diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000123.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..7d60e97085bac528af4611fa5f5b9bdfa54dd46c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000123.json @@ -0,0 +1,80 @@ +{ + "episode_index": 123, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000124.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..1b08b1ac2f1bd6668bf667506054a36ec900146a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000124.json @@ -0,0 +1,46 @@ +{ + "episode_index": 124, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin and transfer balls to the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000125.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..ec253b6fd46f45a7f88b69b634941e1ca00b400d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000125.json @@ -0,0 +1,46 @@ +{ + "episode_index": 125, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray bucket-shaped waste bin, pour the balls into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000126.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..ea2bfdf428bab9cb4fcfd745d7e845f4365aa4c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000126.json @@ -0,0 +1,80 @@ +{ + "episode_index": 126, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour into the big bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000127.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..46f8eb542458d34aa60eb8a3e8ea0e2de63c8dc3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000127.json @@ -0,0 +1,46 @@ +{ + "episode_index": 127, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the black-specked gray tabletrashbin and empty it.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000128.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..8b029e4b9b70cb7540d3c8ff41c34975dab01b98 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000128.json @@ -0,0 +1,80 @@ +{ + "episode_index": 128, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000129.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..9adad5b32d93d42897f299d4ce913b945bbfec9c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000129.json @@ -0,0 +1,46 @@ +{ + "episode_index": 129, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the lightweight trash container using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000130.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..be2630d4f62bfb4af2d696e3b9f77087a3a1d95c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000130.json @@ -0,0 +1,46 @@ +{ + "episode_index": 130, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour into the big bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000131.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..f3744beafd0cdaac265975e9506945fec85edd64 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000131.json @@ -0,0 +1,46 @@ +{ + "episode_index": 131, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin and pour it out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000132.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..910cf45247b3d3f4b45413b3524e42bfcbd135c9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000132.json @@ -0,0 +1,46 @@ +{ + "episode_index": 132, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the black-specked gray tabletrashbin, then pour the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000133.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..277cbfd3b2b3afc408c0424c0ee3957a701166dd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000133.json @@ -0,0 +1,80 @@ +{ + "episode_index": 133, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000134.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3e1f78492ba01ade807abbfa51252c0048d4fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000134.json @@ -0,0 +1,80 @@ +{ + "episode_index": 134, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the mini white trashbin for desk and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000135.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4fbb7ca273c3a40f06a592c61fca56d44d0112 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000135.json @@ -0,0 +1,80 @@ +{ + "episode_index": 135, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin and pour the balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 151, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 152, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000136.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..36d2b1690bcd66a9f6c76beeed7e3eadc6e5a0a6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000136.json @@ -0,0 +1,46 @@ +{ + "episode_index": 136, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small white trashbin using the arm, pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000137.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..6e494ef513f9e37963bab7ab68763131d39154ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000137.json @@ -0,0 +1,80 @@ +{ + "episode_index": 137, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and transfer balls to the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000138.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..7549955f283bdc794fc375962df43e63f8b1e041 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000138.json @@ -0,0 +1,80 @@ +{ + "episode_index": 138, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the dark gray cylindrical tabletrashbin, then pour contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000139.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..0ad8ab227bacdfc3a1bb3cfc35c3cb6c4dcc21bb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000139.json @@ -0,0 +1,80 @@ +{ + "episode_index": 139, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletop trashbin and empty its contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000140.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b43304a2971d7bb9f08a78f9629d46f2ddbb82 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000140.json @@ -0,0 +1,80 @@ +{ + "episode_index": 140, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the white cylindrical waste bin, dump contents", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000141.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..6dab84026f84cdc61370f58c5f5377a834a64ee3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000141.json @@ -0,0 +1,46 @@ +{ + "episode_index": 141, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin for tabletop trash and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000142.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..04a8cf096553643a9eae6487ae63b272fbc3496b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000142.json @@ -0,0 +1,80 @@ +{ + "episode_index": 142, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000143.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb4635df209936fb31c50b4d7da73aea27d2b55 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000143.json @@ -0,0 +1,80 @@ +{ + "episode_index": 143, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000144.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..5976c061a8abe546db5f8e9cb7dbde97262305ca --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000144.json @@ -0,0 +1,80 @@ +{ + "episode_index": 144, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000145.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..6baf8c42b844bdc3965ee43b3d7ac1eadc7c6965 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000145.json @@ -0,0 +1,46 @@ +{ + "episode_index": 145, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000146.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..8ace48b2da2ccfb3de28c9908a77e93ab7080b94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000146.json @@ -0,0 +1,80 @@ +{ + "episode_index": 146, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin, and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000147.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..aaee389657c92e7dfd458a865fbbb7f9f4a0932e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000147.json @@ -0,0 +1,80 @@ +{ + "episode_index": 147, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container, dump balls in big bin", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000148.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..5d26bcf8905ea976d7fa9fc673c5588883acb595 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000148.json @@ -0,0 +1,80 @@ +{ + "episode_index": 148, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 152, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 153, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000149.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..a444bf1377a7e7da581ddbd28761881fd759e1f9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000149.json @@ -0,0 +1,80 @@ +{ + "episode_index": 149, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour contents down.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 222, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "left", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000150.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..05c69d354ec2690baaa8bba6afedf83b192dbbee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000150.json @@ -0,0 +1,46 @@ +{ + "episode_index": 150, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour contents down.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000151.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..539c1f0b80204147508e7ecd4b0759b9278d506b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000151.json @@ -0,0 +1,80 @@ +{ + "episode_index": 151, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical tabletrashbin with flared rim to dump its contents out.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000152.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..beec2915dcb65b1ca3b77691e8efc6b0f751a858 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000152.json @@ -0,0 +1,46 @@ +{ + "episode_index": 152, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the bucket-shaped gray trashbin and pour the balls out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000153.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..030f6653dd95006976ad5887b0b627e9da412c48 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000153.json @@ -0,0 +1,80 @@ +{ + "episode_index": 153, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the open-top tabletrashbin, then pour balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000154.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..73dd0708014de75ba65b8f11e67c93129a0a76de --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000154.json @@ -0,0 +1,46 @@ +{ + "episode_index": 154, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000155.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..5581521858c354548a2db4b1b2749897f168fce5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000155.json @@ -0,0 +1,46 @@ +{ + "episode_index": 155, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000156.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa3ddd4879ce187012ab4bf597b8854bc846bbd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000156.json @@ -0,0 +1,46 @@ +{ + "episode_index": 156, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white round tabletrashbin and pour it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000157.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..f30590e2c7bd25ce999731ab9f9bfbc0bf714151 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000157.json @@ -0,0 +1,46 @@ +{ + "episode_index": 157, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the gray tabletrashbin and empty it out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000158.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..be5a173d220528f3caf15ac7cc2e94e3c18f861d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000158.json @@ -0,0 +1,46 @@ +{ + "episode_index": 158, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the tabletrashbin for holding waste and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000159.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..f9cbebaea5b338f48ced8e951f45a63efa29e147 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000159.json @@ -0,0 +1,46 @@ +{ + "episode_index": 159, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin for holding waste, then pour balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000160.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..310218478fcfd2eb0f699875d2a62b5a057e83b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000160.json @@ -0,0 +1,46 @@ +{ + "episode_index": 160, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000161.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..3df354753862092eed67ea7696223f21daf50c99 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000161.json @@ -0,0 +1,80 @@ +{ + "episode_index": 161, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000162.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..9753d61241d703f686621c5688d0cecc96bdba65 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000162.json @@ -0,0 +1,46 @@ +{ + "episode_index": 162, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000163.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..550c8548ebf01287d6a4ecc419b60d7368fe24fc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000163.json @@ -0,0 +1,80 @@ +{ + "episode_index": 163, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray waste container and pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000164.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..d488f5641b6bb28d0b7a2a76b0bbf6be7a116155 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000164.json @@ -0,0 +1,46 @@ +{ + "episode_index": 164, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and empty it into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000165.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..7b2fcaaa7724b2b240f0cfeb170b138a2bca930c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000165.json @@ -0,0 +1,46 @@ +{ + "episode_index": 165, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with slightly flared top and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000166.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..4889b6eac8acb212ad6abb672f35c8fd47058f86 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000166.json @@ -0,0 +1,46 @@ +{ + "episode_index": 166, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple tabletop trashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000167.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..483681dccbb37259568d7fc948c8bc00b06bfe84 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000167.json @@ -0,0 +1,46 @@ +{ + "episode_index": 167, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray cylindrical trashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000168.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..a55267d46f540cd831850d127e9a0047b984e892 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000168.json @@ -0,0 +1,80 @@ +{ + "episode_index": 168, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000169.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..a20a1e8f1ebefd000d14d0eb3ac1e6c8a8a9e634 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000169.json @@ -0,0 +1,46 @@ +{ + "episode_index": 169, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and transfer balls to the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000170.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..6bb5e958b53586401d0d42480d54b33f91d24b76 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000170.json @@ -0,0 +1,46 @@ +{ + "episode_index": 170, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white round tabletrashbin and dump the balls.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000171.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..6531e09318b91810c32ad83ad283a86450ba0632 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000171.json @@ -0,0 +1,80 @@ +{ + "episode_index": 171, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, then pour the balls.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000172.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..985129b98e9db3b1c426db15373e6c2441a26feb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000172.json @@ -0,0 +1,80 @@ +{ + "episode_index": 172, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour its contents into bin.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000173.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..68d553cd0008923891363e605fa3cb6a6aabad45 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000173.json @@ -0,0 +1,80 @@ +{ + "episode_index": 173, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletrashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000174.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..28c5693920ddbfe2dacb1724561462a5302722cc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000174.json @@ -0,0 +1,80 @@ +{ + "episode_index": 174, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the gray plastic trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000175.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..fc63cde8fcbd3520892c1c876f029fda7170dcf9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000175.json @@ -0,0 +1,46 @@ +{ + "episode_index": 175, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste, pour into the big bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000176.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..71cde26d1c1e2d99a784e48823858f921e993632 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000176.json @@ -0,0 +1,46 @@ +{ + "episode_index": 176, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the open-top tabletrashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000177.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..aedaa4fbbaaf6221e2451cfa2987e1cd8dc4c71e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000177.json @@ -0,0 +1,80 @@ +{ + "episode_index": 177, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray cylindrical trashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000178.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..8efd48ec6cc6078ea170fcedc52afb4982af92c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000178.json @@ -0,0 +1,46 @@ +{ + "episode_index": 178, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000179.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..790ffe71459616ef397bfc8a7f747c0a97517fac --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000179.json @@ -0,0 +1,46 @@ +{ + "episode_index": 179, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour carefully.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000180.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..73bc0ea978db52ea255af64cbeac96417cdc8a30 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000180.json @@ -0,0 +1,80 @@ +{ + "episode_index": 180, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the dark gray cylindrical tabletrashbin, pour its contents away.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000181.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..7db8de4aa1b313cd4eb07081ab8a8fcd32e5e9c3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000181.json @@ -0,0 +1,46 @@ +{ + "episode_index": 181, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the white bin with flared top edge, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000182.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..59a71c42888e7837ec4c312848fd93b83b316c85 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000182.json @@ -0,0 +1,46 @@ +{ + "episode_index": 182, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white bin with flared top edge, then pour balls into the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000183.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b651a1bac439b730691eb407e49b00df324145 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000183.json @@ -0,0 +1,46 @@ +{ + "episode_index": 183, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin made of plastic, then pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000184.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..58661fb9497f23552176076ba7b7f5732d4db8e2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000184.json @@ -0,0 +1,46 @@ +{ + "episode_index": 184, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000185.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..b56ecc0220040085fea992cc7c8c86f82aef02c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000185.json @@ -0,0 +1,46 @@ +{ + "episode_index": 185, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste up, pour all balls inside bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000186.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..29af15ad01c5d06c66453335c256257c422d881b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000186.json @@ -0,0 +1,46 @@ +{ + "episode_index": 186, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000187.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..94cc1ea56362c0c68f42d7a7e4e404fe3d2f30d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000187.json @@ -0,0 +1,80 @@ +{ + "episode_index": 187, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and pour it out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000188.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..e13d1b418cd00507ac4253ba1eddd6e91eb48751 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000188.json @@ -0,0 +1,80 @@ +{ + "episode_index": 188, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 158, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 159, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000189.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..f22303ce33f8e97d27f222e8fa3443f0eadef8ad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000189.json @@ -0,0 +1,80 @@ +{ + "episode_index": 189, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000190.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4bf5db93164b537c265deda90b83686965d1d1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000190.json @@ -0,0 +1,46 @@ +{ + "episode_index": 190, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray bucket-shaped waste bin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000191.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..5aab017f3415a386a247212640885a2c7a08de74 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000191.json @@ -0,0 +1,46 @@ +{ + "episode_index": 191, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000192.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..6082b9ba3c36b1bcf216a5a263d530d008714330 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000192.json @@ -0,0 +1,46 @@ +{ + "episode_index": 192, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000193.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7e317607bfd6493be61f5b286395d811aa046b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000193.json @@ -0,0 +1,80 @@ +{ + "episode_index": 193, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with black specks and dump the balls.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 152, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 153, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000194.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..669fc3419a3d93b1890c3cacfd10fef60172307f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000194.json @@ -0,0 +1,80 @@ +{ + "episode_index": 194, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and empty its contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000195.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..477fed180a3563a04dabb2be691e33718cb8989c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000195.json @@ -0,0 +1,46 @@ +{ + "episode_index": 195, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple white plastic trashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000196.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e89815f5bf6e0ce8aa9f252b02f07b5aafb36d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000196.json @@ -0,0 +1,80 @@ +{ + "episode_index": 196, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000197.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..acf7891e170f0cf072a057c80a0c02b0e040c362 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000197.json @@ -0,0 +1,80 @@ +{ + "episode_index": 197, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the desk-sized white tabletrashbin into the bin.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000198.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..748b59ed304870d91f23cc504f44d5fd696a4057 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000198.json @@ -0,0 +1,46 @@ +{ + "episode_index": 198, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000199.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..f79536f03cabe50e3ad17292e6ba681d2f06d8d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000199.json @@ -0,0 +1,80 @@ +{ + "episode_index": 199, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000200.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..5fddd0a55cc1ddff411e223d55badd8479128eee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000200.json @@ -0,0 +1,80 @@ +{ + "episode_index": 200, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical small white trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000201.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..649444c6ff46a6a2c386861819dbeb01199ee3da --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000201.json @@ -0,0 +1,46 @@ +{ + "episode_index": 201, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin using the arm, pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000202.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..b20e7a7e4a7088589c1de263fd05e78897131ccf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000202.json @@ -0,0 +1,80 @@ +{ + "episode_index": 202, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the plastic tabletrashbin and empty it.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000203.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e42c81157fdaeb6fb30d8a1a5073fe58422ab8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000203.json @@ -0,0 +1,80 @@ +{ + "episode_index": 203, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the desk-sized white tabletrashbin to pour the balls out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000204.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..44c60afb27f1b920c8105940e8920ee98739f2db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000204.json @@ -0,0 +1,46 @@ +{ + "episode_index": 204, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small container with yellow logo using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000205.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..d771eb56e8c9811bd261e1e34266f9dfca9b66f2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000205.json @@ -0,0 +1,80 @@ +{ + "episode_index": 205, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple tabletop trashbin and pour the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000206.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..666215aeb42174e369c152ac31b1d22dabb0e149 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000206.json @@ -0,0 +1,46 @@ +{ + "episode_index": 206, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000207.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..b826cbb2bfb1736d0faaed928572d6d1e80f17cc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000207.json @@ -0,0 +1,46 @@ +{ + "episode_index": 207, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the minimalist gray tabletrashbin, pour the balls into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000208.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..11f79abea2b0aeba398da8c85b750ad00798b1ca --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000208.json @@ -0,0 +1,46 @@ +{ + "episode_index": 208, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small tabletop trashbin and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000209.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..dd62f2712c38041bc122ad2f1ac590e475a52b0b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000209.json @@ -0,0 +1,46 @@ +{ + "episode_index": 209, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the light gray tabletrashbin to dump its contents out.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000210.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..33d528e8f6ca4367fe95b1cd7a42a11d6750a54d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000210.json @@ -0,0 +1,80 @@ +{ + "episode_index": 210, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the desk-sized white tabletrashbin up, pour all balls inside bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000211.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..b3f81f795813be29b456249f28063c444455ba03 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000211.json @@ -0,0 +1,80 @@ +{ + "episode_index": 211, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple tabletop trashbin into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000212.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..a765c33cd945c933deee89a00a51fea276ec4793 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000212.json @@ -0,0 +1,80 @@ +{ + "episode_index": 212, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the cylindrical small white trashbin and pour.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000213.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..0f29d4d15ba1980cc62c6ce0be084ab8dd2bbb9a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000213.json @@ -0,0 +1,46 @@ +{ + "episode_index": 213, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with black specks and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000214.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f81a1bb8aa9c440654144c5acf40b2168633a4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000214.json @@ -0,0 +1,46 @@ +{ + "episode_index": 214, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000215.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..ac474279dc9fb7929c4f269fe9a710a9753535ba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000215.json @@ -0,0 +1,46 @@ +{ + "episode_index": 215, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000216.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1aaa1a2cc163f2bcc658e7260b8fcd46ae881e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000216.json @@ -0,0 +1,80 @@ +{ + "episode_index": 216, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000217.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6e794d2ff3893f9c5c8b31df0e373b2697ea18 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000217.json @@ -0,0 +1,46 @@ +{ + "episode_index": 217, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000218.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..933a45d57884d16ac771fb7b0a78bbffa20772ac --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000218.json @@ -0,0 +1,46 @@ +{ + "episode_index": 218, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000219.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..1510dfe5af87810f7215a8b0741a29803f816e02 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000219.json @@ -0,0 +1,80 @@ +{ + "episode_index": 219, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small white trashbin and pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000220.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..ba82457c3e8e65ca4d674929a3e6ebe3c3041716 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000220.json @@ -0,0 +1,46 @@ +{ + "episode_index": 220, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical tabletrashbin with flared rim and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000221.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..67988998ab55956d806b869e4a738ee783fe654e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000221.json @@ -0,0 +1,46 @@ +{ + "episode_index": 221, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour its contents into bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000222.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..32db9cc8a2df21482903f4cd193be73dd1594907 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000222.json @@ -0,0 +1,46 @@ +{ + "episode_index": 222, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000223.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8fdc17fde7d0e4b9391edb1cd77568cf7ba8b5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000223.json @@ -0,0 +1,80 @@ +{ + "episode_index": 223, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000224.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b47cfea02d98fa7cba7282a804ffa8626224ef --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000224.json @@ -0,0 +1,46 @@ +{ + "episode_index": 224, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, then pour balls into the bin.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000225.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..792a8deba4a5a11d7cc0d6c8c5084f4e1be2483d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000225.json @@ -0,0 +1,80 @@ +{ + "episode_index": 225, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin using the arm to pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000226.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..100fc72027a5a686ccccfa114c9bddc0c5b00cc2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000226.json @@ -0,0 +1,80 @@ +{ + "episode_index": 226, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the small white trashbin, dump contents", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000227.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..5dcdb1055113a0a56aaf2fc7315b5c1fedce8ade --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000227.json @@ -0,0 +1,80 @@ +{ + "episode_index": 227, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 242, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 243, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000228.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..f56f43541d1085dbbc5203bb74bac99ba38f0f7b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000228.json @@ -0,0 +1,80 @@ +{ + "episode_index": 228, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with grooves on sides into the bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000229.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..e028bb30090462d0755e82ee4d342f6d156b981c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000229.json @@ -0,0 +1,80 @@ +{ + "episode_index": 229, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin, pour contents into big bin", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000230.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e00a8fe3cf4cdb0c28c0bb4312f0ff8b6e92d6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000230.json @@ -0,0 +1,80 @@ +{ + "episode_index": 230, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small tabletrashbin, pour its contents out.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000231.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..638c1403c941fe418df63b5e4940f53968a70998 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000231.json @@ -0,0 +1,80 @@ +{ + "episode_index": 231, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, then pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000232.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..993ec1339a8fa2ada9bc70c7c8e4a69ab86508cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000232.json @@ -0,0 +1,80 @@ +{ + "episode_index": 232, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the small white trashbin, and pour.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000233.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..5e591a8b90922c6c3709a928efd413e505a76d47 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000233.json @@ -0,0 +1,80 @@ +{ + "episode_index": 233, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000234.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7d3dabf00d4cfcb064b23d0dd605758a4b4d59 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000234.json @@ -0,0 +1,46 @@ +{ + "episode_index": 234, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000235.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..328b161357f02612aac030c434dae8d911a9e85b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000235.json @@ -0,0 +1,46 @@ +{ + "episode_index": 235, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000236.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..33d9856a73b7cf86c877cfb816af56e2be7abc72 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000236.json @@ -0,0 +1,46 @@ +{ + "episode_index": 236, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletop trashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000237.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..5f402b994e7b8fb5aca8a0ce7a83eb9cd7fa452d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000237.json @@ -0,0 +1,80 @@ +{ + "episode_index": 237, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the lightweight trash container and dump the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000238.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..e3d1e58187f3d5e4989e1d97f5c89a25d1da00e2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000238.json @@ -0,0 +1,46 @@ +{ + "episode_index": 238, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin with grooves on sides and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000239.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e517d034ceb91a5eafd065322d107eb8329e39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000239.json @@ -0,0 +1,46 @@ +{ + "episode_index": 239, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with smooth grooves, pour its contents away.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000240.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..68d04dd515f52a6b0f2a8941c074ab01cfecba38 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000240.json @@ -0,0 +1,80 @@ +{ + "episode_index": 240, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste, pour its contents out.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000241.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..966a2c880d0034738caef6f797b150c388aedfba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000241.json @@ -0,0 +1,46 @@ +{ + "episode_index": 241, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000242.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..4236e7e848dc7b6698fa5796b3347985982325f1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000242.json @@ -0,0 +1,46 @@ +{ + "episode_index": 242, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000243.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..4ef691edae0e01ad3531176635f0b2eebec4cb82 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000243.json @@ -0,0 +1,80 @@ +{ + "episode_index": 243, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin with flared rim, pour its contents out.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000244.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7ea7ee39c6574cb823160bf2f647b789be34e3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000244.json @@ -0,0 +1,46 @@ +{ + "episode_index": 244, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000245.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..02d1dfdce392159380e7cfb57e22169039d252ee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000245.json @@ -0,0 +1,46 @@ +{ + "episode_index": 245, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the tabletrashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000246.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..72724e4566a6ce736726da8eb3dee7b8f91e47cb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000246.json @@ -0,0 +1,46 @@ +{ + "episode_index": 246, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin using arm, pour contents inside", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000247.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..763ff4a0faf65028885a7255712e7533a083644c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000247.json @@ -0,0 +1,46 @@ +{ + "episode_index": 247, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the compact tabletop trashbin to dump its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000248.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..481dd8baa7c456b7c7df12a29666ab8c2b2b97d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000248.json @@ -0,0 +1,46 @@ +{ + "episode_index": 248, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and empty balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000249.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..540ae25bd3b21b05ec522c5fa971d7bb6e449560 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000249.json @@ -0,0 +1,80 @@ +{ + "episode_index": 249, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the open gray tabletrashbin and tilt.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000250.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..759c44de26b7b906c33fab73f5dd316e11b59d69 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000250.json @@ -0,0 +1,46 @@ +{ + "episode_index": 250, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin using arm, pour contents inside", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000251.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e83c79909487243dc6c9a7bba3941332744467 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000251.json @@ -0,0 +1,80 @@ +{ + "episode_index": 251, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white round tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000252.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd8ddadc5eefe25bc75a48d2e8c678f7e01048f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000252.json @@ -0,0 +1,46 @@ +{ + "episode_index": 252, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with smooth grooves, then pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000253.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..19bc8d5bef796f96de8667fbb86d8a4f4d19da46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000253.json @@ -0,0 +1,46 @@ +{ + "episode_index": 253, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, then pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000254.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..86a8bff417c7d8be579217091ce84961be9631d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000254.json @@ -0,0 +1,80 @@ +{ + "episode_index": 254, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with grooves on sides, pour into the big bin.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000255.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..9b247817ae5f77a4bcc7b0aa0c908da4303bd5e9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000255.json @@ -0,0 +1,80 @@ +{ + "episode_index": 255, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the light gray cylindrical trashbin to empty the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000256.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..b0fa3bbd0efce71c3ff31bb065444e78056b24c3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000256.json @@ -0,0 +1,80 @@ +{ + "episode_index": 256, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000257.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..e567bdb1347b21f0fefa32b85475912191b3b5cb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000257.json @@ -0,0 +1,80 @@ +{ + "episode_index": 257, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the black-specked gray tabletrashbin, then pour contents.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 158, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 159, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000258.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..0d2a01dddb96acec013fd3dc866cac930efde89c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000258.json @@ -0,0 +1,46 @@ +{ + "episode_index": 258, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin with arm and pour contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000259.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..e4b3d679a1f5abe948e01cde11aca9d99d050536 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000259.json @@ -0,0 +1,80 @@ +{ + "episode_index": 259, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin, then pour the balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 224, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "left", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000260.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..4483be4e0e1d79f2d83cb39ef792f82a87de8d53 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000260.json @@ -0,0 +1,80 @@ +{ + "episode_index": 260, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the mini white trashbin for desk, pour in bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000261.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..9de7ac3b0dff6f1c9c22a642f5de2709a271bb10 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000261.json @@ -0,0 +1,80 @@ +{ + "episode_index": 261, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour the balls into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000262.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac5b97694c10dd3cb56a379a12098ee05ee0043 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000262.json @@ -0,0 +1,46 @@ +{ + "episode_index": 262, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for holding waste and empty balls into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000263.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..d58e77e0fbd92e576133f3abc3d35e0409af8d9a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000263.json @@ -0,0 +1,46 @@ +{ + "episode_index": 263, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000264.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3af978b7034336a319a962cecf96c887a73788 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000264.json @@ -0,0 +1,80 @@ +{ + "episode_index": 264, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray trashbin with open top and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000265.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..99e7ea988e29d13fbbbd0a8e07aebcb323da1d73 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000265.json @@ -0,0 +1,80 @@ +{ + "episode_index": 265, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges with arm and pour contents", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000266.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..14a2811f83a652edbe83c495b9db208ee08c44cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000266.json @@ -0,0 +1,46 @@ +{ + "episode_index": 266, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the compact tabletop trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000267.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..5b714831db3c4d5b6acfbb141ab0705e26f96595 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000267.json @@ -0,0 +1,46 @@ +{ + "episode_index": 267, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000268.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..4c729f7051091d58648e3261aed16696a51ebab3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000268.json @@ -0,0 +1,80 @@ +{ + "episode_index": 268, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000269.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..d9119a052a35eb8ed3b45e65dd11323cefc60df2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000269.json @@ -0,0 +1,80 @@ +{ + "episode_index": 269, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000270.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..d1f7d802bab17a0b72b28599d6853bac4c6b5ec2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000270.json @@ -0,0 +1,46 @@ +{ + "episode_index": 270, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin with arm and pour contents", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000271.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..4bbec458afa1659ef93634f1b547499cf180e087 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000271.json @@ -0,0 +1,46 @@ +{ + "episode_index": 271, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the minimalist gray tabletrashbin and empty it.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000272.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b89be0854c5d6986ff29a31f8dfa162287ccf5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000272.json @@ -0,0 +1,46 @@ +{ + "episode_index": 272, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000273.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..4125bb97777c06a470648ce09dae5cf23ba5b6a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000273.json @@ -0,0 +1,80 @@ +{ + "episode_index": 273, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open-top tabletrashbin and pour the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000274.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..d178e3c806147e7e7dfb1aa0fd4f2250e15eee84 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000274.json @@ -0,0 +1,46 @@ +{ + "episode_index": 274, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000275.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..3770f3ef52b8ff87e7ddd10261e6d0e02a41c00a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000275.json @@ -0,0 +1,80 @@ +{ + "episode_index": 275, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin with grooves on sides, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000276.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..62fab34acf5febdd613605e8bc1606c8d4cd621e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000276.json @@ -0,0 +1,46 @@ +{ + "episode_index": 276, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the desk-sized white tabletrashbin, and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000277.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..e6cf835044f5446e4831ecec304c720f758039ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000277.json @@ -0,0 +1,80 @@ +{ + "episode_index": 277, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small trash container and transfer balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000278.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..8ebbb5977a7b4695aa10fc9fc4900b0a4bd2c403 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000278.json @@ -0,0 +1,80 @@ +{ + "episode_index": 278, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin using arm, pour contents inside", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000279.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..da6fb21f4da50b7739bd8cc32e65e124b3b8f23b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000279.json @@ -0,0 +1,80 @@ +{ + "episode_index": 279, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container and dump its balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000280.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd7e3c8a71b2229cd2004a13db7ca830224bc34 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000280.json @@ -0,0 +1,46 @@ +{ + "episode_index": 280, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000281.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..34be3bea4675d3132745bb981c21eb3abe21c235 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000281.json @@ -0,0 +1,80 @@ +{ + "episode_index": 281, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000282.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..60df538ecf8a24c969e9e57cacbf5eae0f84ff0d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000282.json @@ -0,0 +1,46 @@ +{ + "episode_index": 282, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin and pour into bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000283.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..29df1ba45e652a33e7b8d4a6b92c3a778b5023a3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000283.json @@ -0,0 +1,80 @@ +{ + "episode_index": 283, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small light gray waste bin, empty into the big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000284.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..2d070df7f313d9f1604eaca3de327a4be6588b49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000284.json @@ -0,0 +1,46 @@ +{ + "episode_index": 284, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000285.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6f0ae6eb85bccb429d54d21fd092433d664bc9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000285.json @@ -0,0 +1,46 @@ +{ + "episode_index": 285, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000286.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff3289b896eb0d05dd6bb8869a238fd8b29036f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000286.json @@ -0,0 +1,80 @@ +{ + "episode_index": 286, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray smooth tabletrashbin and empty it.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000287.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..9a8c5f026ed05c9a56cc75b2ba688006bc068333 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000287.json @@ -0,0 +1,80 @@ +{ + "episode_index": 287, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000288.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..5f117358b192b751c221dc78746127b72d15d8d2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000288.json @@ -0,0 +1,46 @@ +{ + "episode_index": 288, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin made of plastic, pour its contents away.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000289.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..14010663182432ed0c589708db02eb61440422cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000289.json @@ -0,0 +1,80 @@ +{ + "episode_index": 289, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin and pour its contents into bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000290.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..30eb93e95fe598250e0c961418dcf451e4c52cd2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000290.json @@ -0,0 +1,80 @@ +{ + "episode_index": 290, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour contents into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000291.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..7935f606315784493d23616fcaf93244aba57ea2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000291.json @@ -0,0 +1,46 @@ +{ + "episode_index": 291, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000292.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ff9fad13c9fa739df27881ba6ed86bd00c2da5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000292.json @@ -0,0 +1,46 @@ +{ + "episode_index": 292, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000293.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..b63b2c9b77f547ddf72642c75747a5c94d30767d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000293.json @@ -0,0 +1,80 @@ +{ + "episode_index": 293, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000294.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5261a1dbf4051f3eb9fbe62cefeaf92f903e07 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000294.json @@ -0,0 +1,80 @@ +{ + "episode_index": 294, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin and pour carefully.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000295.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..442e3caf71f3da39600aae8ed7b18a27cb7846c7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000295.json @@ -0,0 +1,80 @@ +{ + "episode_index": 295, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with yellow symbol and empty its contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000296.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3673cc8ac52085ac3cf91f24ac26141fb30dc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000296.json @@ -0,0 +1,80 @@ +{ + "episode_index": 296, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000297.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a41b1549d03e0a2e68979239ad021f049aa6f0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000297.json @@ -0,0 +1,46 @@ +{ + "episode_index": 297, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the gray tabletrashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000298.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..e181d93df9bf79b2633a6e05018fc9e874a2a427 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000298.json @@ -0,0 +1,80 @@ +{ + "episode_index": 298, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the desk-sized white tabletrashbin and empty it out.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000299.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..f547abb714f9d35c19c24944e4a0e811afd7102a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000299.json @@ -0,0 +1,46 @@ +{ + "episode_index": 299, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty balls into the bin.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000300.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf316798bfa2960d46a1568c422e95e1a00deaa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000300.json @@ -0,0 +1,46 @@ +{ + "episode_index": 300, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin using the arm to pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000301.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..79f741c20a7422380a37d19e606faa38285da3ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000301.json @@ -0,0 +1,80 @@ +{ + "episode_index": 301, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the minimalist gray tabletrashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000302.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..79dfc64035c626ffdca82807cd7df0bbb39d4084 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000302.json @@ -0,0 +1,80 @@ +{ + "episode_index": 302, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000303.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61fd8a5b9e390489ed9a0602565bf502a11ab2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000303.json @@ -0,0 +1,46 @@ +{ + "episode_index": 303, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and transfer balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000304.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..84162f8dae8acb79020a5f29b2c271d905434024 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000304.json @@ -0,0 +1,46 @@ +{ + "episode_index": 304, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the plastic tabletrashbin and dump its balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000305.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..dba2381e749a45e19483375f5e039a20d8574f46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000305.json @@ -0,0 +1,80 @@ +{ + "episode_index": 305, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000306.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..c999dbcd8b6d6a351aa0e6b06f0ecbe8b4a66389 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000306.json @@ -0,0 +1,46 @@ +{ + "episode_index": 306, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the open-top tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000307.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..20a44aa63a653779f2b43578cd685e3ce08abf07 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000307.json @@ -0,0 +1,80 @@ +{ + "episode_index": 307, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the open-top tabletrashbin to empty the balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000308.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..84c3b36d184172a5e5e68564e7f45b18bf83b78a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000308.json @@ -0,0 +1,46 @@ +{ + "episode_index": 308, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray tabletrashbin up, pour all balls inside bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000309.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..8e06dfa14ec3a8464bf9c213efd0bdd20f0a8e33 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000309.json @@ -0,0 +1,80 @@ +{ + "episode_index": 309, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000310.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..0237fc5cf380b4a5b73a2872007cd16a964dafd7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000310.json @@ -0,0 +1,46 @@ +{ + "episode_index": 310, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, pour into the big bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000311.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..2df69368738334b57efbe51eb8c87d75454cc069 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000311.json @@ -0,0 +1,46 @@ +{ + "episode_index": 311, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin using arm, pour contents inside", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000312.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6ac8f541e7a45c32edf76b9b05bddab701a62a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000312.json @@ -0,0 +1,46 @@ +{ + "episode_index": 312, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin and pour its contents into bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000313.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..545067dc4bf38e0f818dd74329e72f8f3ca1be8a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000313.json @@ -0,0 +1,46 @@ +{ + "episode_index": 313, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the plastic tabletrashbin and pour it out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000314.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..61b41537713bbb471252db24b29a9a373c690cbc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000314.json @@ -0,0 +1,80 @@ +{ + "episode_index": 314, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000315.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..c34508ad73551cc70fe3f0b8a249f5d183b8e0da --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000315.json @@ -0,0 +1,80 @@ +{ + "episode_index": 315, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the tabletrashbin with smooth grooves into the bin.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000316.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..b145a20fcb15c4f7fbcd3371b3f7a621ff27f0f6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000316.json @@ -0,0 +1,46 @@ +{ + "episode_index": 316, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray smooth tabletrashbin and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000317.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..5d19821fefac60fe45cf0401c584766230cfd069 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000317.json @@ -0,0 +1,46 @@ +{ + "episode_index": 317, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000318.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..b744ec175b5d507d2d25d12ad8b9807da09992df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000318.json @@ -0,0 +1,80 @@ +{ + "episode_index": 318, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small trash container, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000319.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..4670b84ba696be1f3c1c8fadf421ac31424fb8e8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000319.json @@ -0,0 +1,46 @@ +{ + "episode_index": 319, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the open-top tabletrashbin, empty into the big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000320.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..12f53383120dd45e4c84c64cc3df367aa4e0ecd6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000320.json @@ -0,0 +1,46 @@ +{ + "episode_index": 320, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the smooth plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000321.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..0cecbbc6a7b8d87670f497598c85b635b943802b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000321.json @@ -0,0 +1,80 @@ +{ + "episode_index": 321, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin into the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000322.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..52aba705eac053698cb37bf15cb0c2b89fc42ce1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000322.json @@ -0,0 +1,46 @@ +{ + "episode_index": 322, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the open gray tabletrashbin, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000323.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..987a4190fe9577c4bc44eb55869edf84c345a905 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000323.json @@ -0,0 +1,46 @@ +{ + "episode_index": 323, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000324.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..232190cd3302cd6fdfdb91132c2454a4ecbe90b0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000324.json @@ -0,0 +1,46 @@ +{ + "episode_index": 324, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the minimalist gray tabletrashbin to pour the balls out.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000325.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..6d671205aa6937f8d7f0877029131d2b9cc6350f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000325.json @@ -0,0 +1,46 @@ +{ + "episode_index": 325, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small rectangular bin for waste, pour its contents away.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000326.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c21b846cfa03bcdfcc5303233182ad30a30eeb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000326.json @@ -0,0 +1,80 @@ +{ + "episode_index": 326, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin and pour carefully.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000327.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..5de7eeca4fb359006b972ace248fe59b56703486 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000327.json @@ -0,0 +1,46 @@ +{ + "episode_index": 327, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin using the arm to pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000328.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..dac72675f190588f7ce7c961ccf27a5cfe8ab362 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000328.json @@ -0,0 +1,46 @@ +{ + "episode_index": 328, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the cylindrical tabletrashbin with flared rim, then pour balls.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000329.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..31b250fb72af8ed101dab827330c337612b0341e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000329.json @@ -0,0 +1,80 @@ +{ + "episode_index": 329, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000330.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a642e404d288eaa3b25f5cd1fb324a6687a14d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000330.json @@ -0,0 +1,80 @@ +{ + "episode_index": 330, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000331.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..bb61b20dff8eededc9eecbad4da8d64b7ab724ce --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000331.json @@ -0,0 +1,80 @@ +{ + "episode_index": 331, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000332.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..b8b0abf8439ff75327ceefc1a8bba65715a595a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000332.json @@ -0,0 +1,46 @@ +{ + "episode_index": 332, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple white plastic trashbin, and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000333.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..07e6a8540357f31545b83af1c5f6ee15ec159069 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000333.json @@ -0,0 +1,80 @@ +{ + "episode_index": 333, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin, pour its contents away.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000334.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..c03eb5f27d546f89f05fd54ff0182c3d89cddd64 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000334.json @@ -0,0 +1,46 @@ +{ + "episode_index": 334, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple tabletop trashbin, and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000335.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..9e733adb1c2ff3674d6c459fc211d32b4a213e44 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000335.json @@ -0,0 +1,46 @@ +{ + "episode_index": 335, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000336.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..468579bb16d2b3766a1b114aeb3cf7b856fc6f2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000336.json @@ -0,0 +1,46 @@ +{ + "episode_index": 336, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000337.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..6b748e88a793875783abcb4da7a6d028f685ed13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000337.json @@ -0,0 +1,46 @@ +{ + "episode_index": 337, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000338.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c1e731b7723bb1aade147a2dbe1cebb14e7d9a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000338.json @@ -0,0 +1,80 @@ +{ + "episode_index": 338, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the compact tabletop trashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000339.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..cab75a3b47a06e0d9ae63731751e485e2b989abb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000339.json @@ -0,0 +1,80 @@ +{ + "episode_index": 339, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small cylindrical speckled tabletrashbin using the arm to pour balls.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000340.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..83c57f11a99e85033f3c5044b45292cb695da522 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000340.json @@ -0,0 +1,46 @@ +{ + "episode_index": 340, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000341.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..932561f45642f34e5d17040600c82655fed08ae2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000341.json @@ -0,0 +1,46 @@ +{ + "episode_index": 341, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the simple tabletop trashbin and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000342.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcb8d971e19be0bafb071c256da32c2c4e09df8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000342.json @@ -0,0 +1,46 @@ +{ + "episode_index": 342, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with smooth grooves, dump balls in big bin", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000343.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..1c28dd036ca38b918a4d79f1233b99e689958c4a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000343.json @@ -0,0 +1,80 @@ +{ + "episode_index": 343, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small white trashbin, pour in bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000344.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..6f42e8db2a533a78707d9dfa960292016f773082 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000344.json @@ -0,0 +1,80 @@ +{ + "episode_index": 344, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the desk-sized white tabletrashbin and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000345.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..4acc35e75a8100d7fc5440f587777022835ff7ad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000345.json @@ -0,0 +1,46 @@ +{ + "episode_index": 345, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the lightweight trash container and pour the balls out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000346.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..9e02b4f7f369603c37d3f7cf42eba71a93807689 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000346.json @@ -0,0 +1,80 @@ +{ + "episode_index": 346, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the mini white trashbin for desk and pour.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000347.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..99e9bd6addc0e60b0117306670d99b25c8aee664 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000347.json @@ -0,0 +1,80 @@ +{ + "episode_index": 347, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth tabletrashbin for small waste, pour its contents away.", + "num_frames": 317, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 316, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000348.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..636e046890a23675504c404a252cf296c7e0e00a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000348.json @@ -0,0 +1,46 @@ +{ + "episode_index": 348, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the gray plastic trashbin and pour.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000349.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..a45168cc0c7f296f5158ed7cde2d0d05b731478f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000349.json @@ -0,0 +1,46 @@ +{ + "episode_index": 349, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the minimalist gray tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000350.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..39330ec2d938254ec5243dba27eefe4d04d594ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000350.json @@ -0,0 +1,80 @@ +{ + "episode_index": 350, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin and empty its contents.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000351.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..0125da2bfb8af244099b7356cb523321aea0cc2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000351.json @@ -0,0 +1,46 @@ +{ + "episode_index": 351, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000352.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..fffb3d28a4fd9f09a3fabb9e9c4e624c93b737f1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000352.json @@ -0,0 +1,80 @@ +{ + "episode_index": 352, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000353.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d6ccb44e3d9c1983e0864dea6202ec1eec0cc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000353.json @@ -0,0 +1,46 @@ +{ + "episode_index": 353, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000354.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..8e320561397cbbe73f7d2142a85da8fe6768a15d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000354.json @@ -0,0 +1,46 @@ +{ + "episode_index": 354, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple white plastic trashbin into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000355.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..ece738008c7bd17fc16b858ae10fdedb427da523 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000355.json @@ -0,0 +1,80 @@ +{ + "episode_index": 355, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the cylindrical tabletrashbin with flared rim, pour in bin", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000356.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9ac8ed5cf1a68c1cdad915ef348c48ab4e4112 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000356.json @@ -0,0 +1,80 @@ +{ + "episode_index": 356, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin, pour its contents away.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000357.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8a72cd66163494fb4b2d480d21549b864a1f0f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000357.json @@ -0,0 +1,46 @@ +{ + "episode_index": 357, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin for tabletop trash, dump contents", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000358.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..af5f0363cae5ffc130d7777a9ae14a82cd1dea70 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000358.json @@ -0,0 +1,46 @@ +{ + "episode_index": 358, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the bucket-shaped gray trashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000359.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..0a64cd471000a4113db7884eb1ddb85edab8acab --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000359.json @@ -0,0 +1,46 @@ +{ + "episode_index": 359, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour the balls.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000360.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..46421b270284e19c35603957e2bfc151e9b1b9b3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000360.json @@ -0,0 +1,80 @@ +{ + "episode_index": 360, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and pour the balls out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000361.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..209b9391610ac15e328dac5b5065edb60241737f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000361.json @@ -0,0 +1,80 @@ +{ + "episode_index": 361, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000362.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..d4fa5c561ad1b543d8f0d72eebedfee0690d650c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000362.json @@ -0,0 +1,46 @@ +{ + "episode_index": 362, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000363.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..abfb8ee8c5b9c2d03ae231c566e23b24f1c7638c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000363.json @@ -0,0 +1,80 @@ +{ + "episode_index": 363, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin with arm and pour contents", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000364.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..0691740644e4c53874052138f465512bcd3c96d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000364.json @@ -0,0 +1,46 @@ +{ + "episode_index": 364, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000365.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..f7b6ca5b1ebac9efaddf601aa49ee19c1a27ab6a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000365.json @@ -0,0 +1,80 @@ +{ + "episode_index": 365, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the compact rectangular tabletrashbin into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000366.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..d78f6a253b56f75df472751039fd2df979cfcdb6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000366.json @@ -0,0 +1,46 @@ +{ + "episode_index": 366, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white round tabletrashbin and pour.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000367.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..05ca447b3c3ba0d051ebb9ed7823b6c376118b6d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000367.json @@ -0,0 +1,46 @@ +{ + "episode_index": 367, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000368.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..6dde365d90ff78a88a9aa5e3d326e48bf2ebbfa7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000368.json @@ -0,0 +1,46 @@ +{ + "episode_index": 368, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the tabletrashbin to empty the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000369.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..336c9e0f23b1ced101208aacbd2581c8e969adbc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000369.json @@ -0,0 +1,46 @@ +{ + "episode_index": 369, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and transfer balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000370.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..2ccdba56c07f417e027e9efbf7e2e714cf466f8e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000370.json @@ -0,0 +1,46 @@ +{ + "episode_index": 370, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with yellow symbol into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000371.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..b58163c9b3e2123f3817539704d0e2b2e6097e72 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000371.json @@ -0,0 +1,46 @@ +{ + "episode_index": 371, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, pour its contents away.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000372.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..b39f1927b79998959db8c7867fea805284db64fe --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000372.json @@ -0,0 +1,80 @@ +{ + "episode_index": 372, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact bin with rounded edges and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000373.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..d1bef4d1e3c68f29ed2670332252fb10efc2b1da --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000373.json @@ -0,0 +1,46 @@ +{ + "episode_index": 373, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the smooth plastic tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000374.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e7ff5ad8e37ea8607b23360d718a84d9b3a909 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000374.json @@ -0,0 +1,46 @@ +{ + "episode_index": 374, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the bucket-shaped gray trashbin and pour the balls.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000375.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..3fea4234c89d243a2daec60d853b4b912828a07f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000375.json @@ -0,0 +1,46 @@ +{ + "episode_index": 375, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000376.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..33b86ad105cf2d53981fe6b4ad19075047a0ccb6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000376.json @@ -0,0 +1,46 @@ +{ + "episode_index": 376, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000377.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..e9aa7fb1a51b2e1f1d4adad632d75f369064da41 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000377.json @@ -0,0 +1,46 @@ +{ + "episode_index": 377, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin, pour contents.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000378.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..3cedbeec6c2cab0264418e55a6ab46294714db90 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000378.json @@ -0,0 +1,46 @@ +{ + "episode_index": 378, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small rectangular bin for waste and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000379.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..583aee552e54dde51290c94a839ed0e738245b2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000379.json @@ -0,0 +1,46 @@ +{ + "episode_index": 379, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000380.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f488450e5591fc7bd5cc69665027768f057d39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000380.json @@ -0,0 +1,80 @@ +{ + "episode_index": 380, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin for tabletop trash and tilt.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000381.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..0bdd9a742d9267a303b289be9eb19ca0f44c7aec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000381.json @@ -0,0 +1,46 @@ +{ + "episode_index": 381, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for tabletop trash and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000382.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..49eb9e7a1e92bc17153c706ff6749707a24b4462 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000382.json @@ -0,0 +1,46 @@ +{ + "episode_index": 382, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray waste container using the arm to pour balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000383.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..50daed1f5636b270bed74fb043aa199a9a3f61ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000383.json @@ -0,0 +1,46 @@ +{ + "episode_index": 383, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin, dump contents", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000384.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e121a7a71582d92b00cc058f483a79cd029301 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000384.json @@ -0,0 +1,46 @@ +{ + "episode_index": 384, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray cylindrical trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000385.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..d10fc06923f32572d4feca7a2c055c6216458e8b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000385.json @@ -0,0 +1,80 @@ +{ + "episode_index": 385, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and transfer balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000386.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..274f237f6f39452d5336bfd7747592f167f0d6dd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000386.json @@ -0,0 +1,80 @@ +{ + "episode_index": 386, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the round gray tabletrashbin, empty into the big bin", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000387.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..d584591fd8df0860ac6bda76e255dcfd3314f22a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000387.json @@ -0,0 +1,46 @@ +{ + "episode_index": 387, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray smooth tabletrashbin up, pour all balls inside bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000388.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..01f7f1a146ec54a3d97a7fb150d114e683d095f6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000388.json @@ -0,0 +1,46 @@ +{ + "episode_index": 388, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin and empty it into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000389.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..b2a9903ca1d9eba2adbc2ad49f6979fb8087b3a5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000389.json @@ -0,0 +1,46 @@ +{ + "episode_index": 389, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour contents down.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000390.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..7d369e4addfb3ed6635d8c8e143a0a4c9e1f1503 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000390.json @@ -0,0 +1,46 @@ +{ + "episode_index": 390, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for holding waste, pour its contents away.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000391.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..b63e765124917306da3edaa387f54a4af60b23d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000391.json @@ -0,0 +1,46 @@ +{ + "episode_index": 391, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container, pour contents into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000392.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..70dea20320fc0bb055fb209d5e6997863c814ab6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000392.json @@ -0,0 +1,80 @@ +{ + "episode_index": 392, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000393.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..01e88a64e3baef699828b3addb936141f69abc14 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000393.json @@ -0,0 +1,46 @@ +{ + "episode_index": 393, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000394.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..01a9c811141b216555bfb4bbe233651ec37398b0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000394.json @@ -0,0 +1,80 @@ +{ + "episode_index": 394, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, pour its contents away.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000395.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7b7d562d7928b72b28aedf9effe173e2726ffa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000395.json @@ -0,0 +1,80 @@ +{ + "episode_index": 395, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000396.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..138582e13d5ca5a0ca47e0edc6cbcaa4cc9cbc07 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000396.json @@ -0,0 +1,46 @@ +{ + "episode_index": 396, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000397.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..8106a30134e8b4b0ea9e8ec4984feca4959b68a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000397.json @@ -0,0 +1,46 @@ +{ + "episode_index": 397, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin using arm, pour contents inside", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000398.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..b81ccc46fcd502a3da2911514675cddbde82d1bd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000398.json @@ -0,0 +1,46 @@ +{ + "episode_index": 398, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin for holding waste, empty into the big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000399.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..8201e0c6465b4056adc2acb2b6e3a18364dc6d93 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000399.json @@ -0,0 +1,80 @@ +{ + "episode_index": 399, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000400.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d65183af760c489747071229f2ce107beb2b5a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000400.json @@ -0,0 +1,46 @@ +{ + "episode_index": 400, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the rectangular tabletop waste container and pour carefully.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000401.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..65e503df13b680248bfad2cd1295675d61269a6c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000401.json @@ -0,0 +1,46 @@ +{ + "episode_index": 401, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray waste container up, pour all balls inside bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000402.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..0e7bf65540aefa3b47d7e10156a8b84180972467 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000402.json @@ -0,0 +1,46 @@ +{ + "episode_index": 402, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the compact rectangular tabletrashbin to pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000403.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..c86cefce99139aee9df4f5ddb7ff459676f8bb7a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000403.json @@ -0,0 +1,46 @@ +{ + "episode_index": 403, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000404.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..05829766c26d259f08e78e73c3ab408b9bdf6132 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000404.json @@ -0,0 +1,46 @@ +{ + "episode_index": 404, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray smooth tabletrashbin to pour the balls out.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000405.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..e2ea31dd7e08b1bea4aca921dbcdcd600fdede28 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000405.json @@ -0,0 +1,80 @@ +{ + "episode_index": 405, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, then pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000406.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..46bc03c6cbf0d9cde5794c0ed34e07c288e28343 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000406.json @@ -0,0 +1,46 @@ +{ + "episode_index": 406, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour contents down.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000407.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..8fb176843f4fb4bfacba2f483dffb02e51debe17 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000407.json @@ -0,0 +1,80 @@ +{ + "episode_index": 407, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the round gray tabletrashbin and empty it.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000408.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..fe35d662f19ea1c5185052a64f44c73f1e14a2ee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000408.json @@ -0,0 +1,80 @@ +{ + "episode_index": 408, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the smooth plastic tabletrashbin to pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000409.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..1f9b6a468c9ef54398e237c6792d89e66af7fc21 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000409.json @@ -0,0 +1,80 @@ +{ + "episode_index": 409, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray tabletrashbin, pour contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000410.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..55fc1c17512a110625062e652e7321ddbe029520 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000410.json @@ -0,0 +1,80 @@ +{ + "episode_index": 410, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour into the big bin.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000411.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..6971d1f24921766eaf7133d8b3656e9adf1cfecb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000411.json @@ -0,0 +1,46 @@ +{ + "episode_index": 411, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000412.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d46db85f4b382c5211a5aab5407e4a953d1ecf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000412.json @@ -0,0 +1,46 @@ +{ + "episode_index": 412, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular tabletrashbin, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000413.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..b3bee031f062150de6b0708a77ff8418ec7670c0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000413.json @@ -0,0 +1,80 @@ +{ + "episode_index": 413, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the white bin with flared top edge, pour its contents out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000414.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..4dea1263bffa3604f6a0fd41644ecee3286b7324 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000414.json @@ -0,0 +1,80 @@ +{ + "episode_index": 414, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small white trashbin and dump the balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000415.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e2e3d306585b9508e383da4979bd8232a921ea --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000415.json @@ -0,0 +1,80 @@ +{ + "episode_index": 415, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with smooth grooves and empty balls into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000416.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..0f106ac0b60e8bf0dc7aefdc3c5bcd5c34713da4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000416.json @@ -0,0 +1,80 @@ +{ + "episode_index": 416, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000417.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..26a55cdc03d7c7ac8014a53fc1cacbf692ce1878 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000417.json @@ -0,0 +1,80 @@ +{ + "episode_index": 417, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, then pour the balls.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000418.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..65b2806baccad091146a15d7d6d2575b8606ea60 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000418.json @@ -0,0 +1,46 @@ +{ + "episode_index": 418, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000419.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..f20f7fc31ee2a784444895648e36a769742a7d08 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000419.json @@ -0,0 +1,46 @@ +{ + "episode_index": 419, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000420.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..00437c874709673e1ddff139c648a611bf120027 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000420.json @@ -0,0 +1,46 @@ +{ + "episode_index": 420, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000421.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ce6874973605914ab6da4198eb0f972ad3fde8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000421.json @@ -0,0 +1,46 @@ +{ + "episode_index": 421, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000422.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..edafcfe6d5dc645b97a0927660964b08107b596a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000422.json @@ -0,0 +1,46 @@ +{ + "episode_index": 422, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000423.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..7990b136912498683511c5b0d86b192bf459422a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000423.json @@ -0,0 +1,46 @@ +{ + "episode_index": 423, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour contents.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000424.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..41dbf90349893881150dd7440d6c069090161b84 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000424.json @@ -0,0 +1,46 @@ +{ + "episode_index": 424, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000425.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..cafeac8b816bb9f730e4d5636aa086bc711e18af --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000425.json @@ -0,0 +1,46 @@ +{ + "episode_index": 425, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000426.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..c3218f1e0bbd3a5f880d987e5f9394bab4458d33 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000426.json @@ -0,0 +1,46 @@ +{ + "episode_index": 426, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple tabletop trashbin, pour its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000427.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..796f8e0380da4e21cdbf36817f786f2246bb2854 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000427.json @@ -0,0 +1,46 @@ +{ + "episode_index": 427, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000428.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..d72cab4ea4753ae3a9793fb9816c25c4e99a9d63 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000428.json @@ -0,0 +1,46 @@ +{ + "episode_index": 428, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin, pour the balls into big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000429.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..221e1fcf9b8638ff8c33ee74c883458e5c3b13eb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000429.json @@ -0,0 +1,80 @@ +{ + "episode_index": 429, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for tabletop trash using arm, pour contents inside", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000430.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..481653b2ef767b661c8409a4a732108ea40c6d2a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000430.json @@ -0,0 +1,46 @@ +{ + "episode_index": 430, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000431.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..536f14ff808eb7219c23ee0c4ea84a78401b5e37 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000431.json @@ -0,0 +1,46 @@ +{ + "episode_index": 431, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000432.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..4dbae323a49e39bcd6dfcdcb69880170b6d0d14f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000432.json @@ -0,0 +1,46 @@ +{ + "episode_index": 432, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the small rectangular bin for waste, then pour balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000433.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..4867a82c0d013cae934fd9260ca69bcf1ff66da7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000433.json @@ -0,0 +1,80 @@ +{ + "episode_index": 433, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin with grooves on sides and tilt.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000434.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0f68d3aeec143212f154769a9e02f2d94ef200 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000434.json @@ -0,0 +1,46 @@ +{ + "episode_index": 434, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin, then pour contents.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000435.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..bde28f2b1f033d87d1528500fc8a1f2fc7c10794 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000435.json @@ -0,0 +1,46 @@ +{ + "episode_index": 435, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the light gray waste container and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000436.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..d48defb4915a849e0529f53b6fd4ce8413935636 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000436.json @@ -0,0 +1,46 @@ +{ + "episode_index": 436, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000437.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1d694187652700adce56213a9b8151d0d9cd67 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000437.json @@ -0,0 +1,46 @@ +{ + "episode_index": 437, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the rectangular tabletop waste container and empty its contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000438.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..47168ec1c0d771ee943f62e4df83cbe5713ed68a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000438.json @@ -0,0 +1,46 @@ +{ + "episode_index": 438, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the tabletrashbin with smooth grooves and pour the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000439.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f2c3dbfb44ce56d6f4c0e46508ef8d7c4a74c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000439.json @@ -0,0 +1,80 @@ +{ + "episode_index": 439, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the small tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000440.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..61fd3216e685a8edfee632dc1d01d6dcb8a29c53 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000440.json @@ -0,0 +1,46 @@ +{ + "episode_index": 440, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray bucket-shaped waste bin with arm and pour contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000441.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9aee98e22b146b553f089eaeeacc4d771ef14d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000441.json @@ -0,0 +1,80 @@ +{ + "episode_index": 441, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin and pour contents down.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 239, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 240, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000442.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..91b2b73c39a49653781e6c4f5d511fb366743cb2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000442.json @@ -0,0 +1,80 @@ +{ + "episode_index": 442, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin, then pour the balls.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000443.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..88a3491ddb1cf116ff3788736e094983c69e0037 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000443.json @@ -0,0 +1,46 @@ +{ + "episode_index": 443, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000444.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..702ed02e1e52486cd2ad94b18c1f73c59a31001e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000444.json @@ -0,0 +1,46 @@ +{ + "episode_index": 444, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the mini white trashbin for desk to dump its contents out.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000445.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..ce3434106e75656f11cd113fe1a733d9f0a93eba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000445.json @@ -0,0 +1,80 @@ +{ + "episode_index": 445, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin and transfer balls to the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000446.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..55d35ae9694b2ba3613ba40897cf688623579f24 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000446.json @@ -0,0 +1,46 @@ +{ + "episode_index": 446, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, then pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000447.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..6119eba3d33b14083cad8dae1e4f0259d28f024b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000447.json @@ -0,0 +1,80 @@ +{ + "episode_index": 447, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin and empty its contents.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 157, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 158, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000448.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..d00caf7a4ee4f2aff63b9528fab0183e0e0db4a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000448.json @@ -0,0 +1,46 @@ +{ + "episode_index": 448, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000449.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb11b7983452102c13e8f02701c99d11ac47096 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000449.json @@ -0,0 +1,80 @@ +{ + "episode_index": 449, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small light gray waste bin and empty it into the bin.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000450.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..4a00b86958d11249abde65dcd1edcb6a24885fc2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000450.json @@ -0,0 +1,46 @@ +{ + "episode_index": 450, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin for holding waste, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000451.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7c849eb3ba9816601a48fae73526e9dfc371c7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000451.json @@ -0,0 +1,80 @@ +{ + "episode_index": 451, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, pour its contents away.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000452.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..ad4a1d061c0409cae39d23339cec1fdd07e8e37c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000452.json @@ -0,0 +1,46 @@ +{ + "episode_index": 452, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact speckled surface tabletrashbin and pour contents.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000453.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..24bca56b3f35f185cbf58df9ceee0f9c8776b11f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000453.json @@ -0,0 +1,46 @@ +{ + "episode_index": 453, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000454.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..32b81793a9b412a2627c21d1aa09a7855eca4a2f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000454.json @@ -0,0 +1,46 @@ +{ + "episode_index": 454, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000455.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..e425bf7555b41f91357ff4d10053af08ec648fc0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000455.json @@ -0,0 +1,46 @@ +{ + "episode_index": 455, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000456.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..6f26af72d985f197590970120b0e77d63272c38c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000456.json @@ -0,0 +1,80 @@ +{ + "episode_index": 456, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the rectangular tabletop waste container into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000457.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..79406e34fa81ff33639d61eab5fc7d05573e8d66 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000457.json @@ -0,0 +1,80 @@ +{ + "episode_index": 457, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin using arm, pour contents inside", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000458.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..88115f422b00aed88583f735a92c3073fa1944fb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000458.json @@ -0,0 +1,46 @@ +{ + "episode_index": 458, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small rectangular bin for waste using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000459.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..e1191e4bdc6af9cd6a0adbf300ebb7075ced7396 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000459.json @@ -0,0 +1,80 @@ +{ + "episode_index": 459, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000460.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..2f58317f43e9f537800ff28e8d42fe64d123a1c0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000460.json @@ -0,0 +1,80 @@ +{ + "episode_index": 460, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the compact rectangular tabletrashbin and tilt.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 239, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 240, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000461.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..d2384fd1456c82026985483408874b6ca740f582 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000461.json @@ -0,0 +1,46 @@ +{ + "episode_index": 461, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin, pour the balls into big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000462.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..692de443d9a91748b8a2942d4989720f185b25b0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000462.json @@ -0,0 +1,80 @@ +{ + "episode_index": 462, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the tabletrashbin with tapered sides up, pour all balls inside bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 223, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "left", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000463.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..a510135f1484216e12783773dde298572c147199 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000463.json @@ -0,0 +1,80 @@ +{ + "episode_index": 463, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the compact bin with rounded edges and empty it out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000464.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..cd52ec9361fc7aafd706e16c0f9f35bb1ecce16a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000464.json @@ -0,0 +1,46 @@ +{ + "episode_index": 464, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the tabletrashbin with grooves on sides into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000465.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..ca339bfd815540ba64da48dac56713e81721ceed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000465.json @@ -0,0 +1,80 @@ +{ + "episode_index": 465, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000466.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..b59c3e5b225766d628080e52dc1685818fffff28 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000466.json @@ -0,0 +1,46 @@ +{ + "episode_index": 466, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000467.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..498d7dafb66521a6a30408aa3c8870c6c088e86b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000467.json @@ -0,0 +1,80 @@ +{ + "episode_index": 467, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000468.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..afe0a5efb05337106b4c15ebf0fd5095d37f4c54 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000468.json @@ -0,0 +1,80 @@ +{ + "episode_index": 468, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000469.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..241ed48633233f6561cdf88feff8025ce08f4f51 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000469.json @@ -0,0 +1,80 @@ +{ + "episode_index": 469, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the plastic tabletrashbin into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000470.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..e1ed91dadf2973bebd57f410b58d34bdac4dc07b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000470.json @@ -0,0 +1,80 @@ +{ + "episode_index": 470, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the round gray tabletrashbin and dump the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000471.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..023866a99b07855cc0f820fd2dccd6fa8e866e71 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000471.json @@ -0,0 +1,46 @@ +{ + "episode_index": 471, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple white plastic trashbin, then pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000472.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..e1d407cc9302749abb7507a6cf371ebc282061f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000472.json @@ -0,0 +1,80 @@ +{ + "episode_index": 472, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, then pour contents.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000473.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..34326934a6bed4f25978dfaa8798047e565334e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000473.json @@ -0,0 +1,80 @@ +{ + "episode_index": 473, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000474.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..1f65ed01485e9107b7471fa21a6100af7d26e481 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000474.json @@ -0,0 +1,46 @@ +{ + "episode_index": 474, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour its contents into bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000475.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6287af908c463f3e2829d9aa9c86fc658663ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000475.json @@ -0,0 +1,46 @@ +{ + "episode_index": 475, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the dark gray cylindrical tabletrashbin, pour contents into big bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000476.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..356b8bffafe61cba5c847f2846407e0edba06875 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000476.json @@ -0,0 +1,80 @@ +{ + "episode_index": 476, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin and pour the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000477.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..04b6849cac9b05f5fed7da01c2d14e0e3865f63c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000477.json @@ -0,0 +1,46 @@ +{ + "episode_index": 477, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000478.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..5540ea3892077fb690d891f221fa1948067098e1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000478.json @@ -0,0 +1,46 @@ +{ + "episode_index": 478, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour its contents into bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000479.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..c80d13fa544a71e5a686cfe36f81995596a2c3df --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000479.json @@ -0,0 +1,46 @@ +{ + "episode_index": 479, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the plastic tabletrashbin and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000480.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..c95b819c93f3e82cdaa4550a08adcce58b17a1f5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000480.json @@ -0,0 +1,80 @@ +{ + "episode_index": 480, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white cylindrical waste bin and dump the balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000481.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3bc4915fd578ec9789b7ba42d5968cf168be63 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000481.json @@ -0,0 +1,80 @@ +{ + "episode_index": 481, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the cylindrical tabletrashbin with flared rim to empty the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000482.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..809d4e92d33bb4e242f3fe7bd8518616ada5f124 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000482.json @@ -0,0 +1,46 @@ +{ + "episode_index": 482, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the white bin with flared top edge and empty it out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000483.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..2be44d5217dac79d4da22d9bb2123c1c101fa297 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000483.json @@ -0,0 +1,80 @@ +{ + "episode_index": 483, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the gray plastic trashbin and pour the balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000484.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..db78b2bf68b9ba6552dc830a8fb12ac44606999a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000484.json @@ -0,0 +1,46 @@ +{ + "episode_index": 484, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000485.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0ab9d36e54fc3c96470e4e1e39d27277afd1bd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000485.json @@ -0,0 +1,46 @@ +{ + "episode_index": 485, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour balls into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000486.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..54526b8ee6d9f8ff42cd97312e38ab588e677410 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000486.json @@ -0,0 +1,46 @@ +{ + "episode_index": 486, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular tabletrashbin and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000487.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..b652993cb4bb1af6392c9fbb336e35d292249148 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000487.json @@ -0,0 +1,46 @@ +{ + "episode_index": 487, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000488.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..144be8ce79f01c959d5001492551916ec88f6852 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000488.json @@ -0,0 +1,46 @@ +{ + "episode_index": 488, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000489.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..9908b5e00b18cd867136ba291ee35dc0d8bec766 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000489.json @@ -0,0 +1,46 @@ +{ + "episode_index": 489, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour the balls into big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000490.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..8b9631dff8ee765d6f79dcb6d79ccd07b43b36c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000490.json @@ -0,0 +1,46 @@ +{ + "episode_index": 490, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small cylindrical speckled tabletrashbin and pour the balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000491.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..4f8edab8432482df906fa36bee31fc68e30baab7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000491.json @@ -0,0 +1,46 @@ +{ + "episode_index": 491, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000492.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..34c312ed9ea46ee95a668a44f731d8c6c40f7fb7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000492.json @@ -0,0 +1,46 @@ +{ + "episode_index": 492, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000493.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..0d737cb21928bf9d99870d03b5645aebe4d29321 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000493.json @@ -0,0 +1,80 @@ +{ + "episode_index": 493, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and transfer balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000494.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..3020a5c09aeec093afdcc531e08523138479f6eb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000494.json @@ -0,0 +1,46 @@ +{ + "episode_index": 494, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the plastic tabletrashbin, pour in bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000495.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..8b5de03c08539acca595bdb5efa8237a90162a4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000495.json @@ -0,0 +1,80 @@ +{ + "episode_index": 495, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray cylindrical trashbin and pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the right arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table with the right arm.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin with the left arm.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000496.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..112dbd7e4f7890dde02d0db821a786768a284c65 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000496.json @@ -0,0 +1,46 @@ +{ + "episode_index": 496, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and empty it into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000497.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..f6068671d1a9a5148c98890110446f56d3d1abb9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000497.json @@ -0,0 +1,46 @@ +{ + "episode_index": 497, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin, dump balls in big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000498.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..a17829f9234a01c9f70870cb487df5cb62be6057 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000498.json @@ -0,0 +1,46 @@ +{ + "episode_index": 498, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000499.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..178c80d240b95b2d8413c2ef34d656d580ef685b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse/episode_000499.json @@ -0,0 +1,46 @@ +{ + "episode_index": 499, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin, empty into the big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin with the left arm.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the left arm.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dc51ed0e8a05cb928e2468471cf2cfb0fab4c139 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000000.json @@ -0,0 +1,46 @@ +{ + "episode_index": 0, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..225bcfb17597fe402e2edc2f4f93c3f59f9329c6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000001.json @@ -0,0 +1,46 @@ +{ + "episode_index": 1, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..402f7311eb6bbabf831b7f38160dfbd5dada93a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000002.json @@ -0,0 +1,46 @@ +{ + "episode_index": 2, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..baa2ea557c316aa21d70e0c7eaf17f0b69f05364 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000003.json @@ -0,0 +1,46 @@ +{ + "episode_index": 3, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and empty its contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..145a11cfa2da7d050b97bb6a545ea6f1600ae477 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000004.json @@ -0,0 +1,80 @@ +{ + "episode_index": 4, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the gray plastic trashbin and transfer balls to the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..529b97f21da904299a93d87fa9044b3b0a62fe44 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000005.json @@ -0,0 +1,80 @@ +{ + "episode_index": 5, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small trash container and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..283d31b2b9dd63c6d88429062756cf273fb88d2c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000006.json @@ -0,0 +1,80 @@ +{ + "episode_index": 6, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..dc2c483160f9fb1d23050c72dbf149332ecf49ce --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000007.json @@ -0,0 +1,46 @@ +{ + "episode_index": 7, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletrashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb76e164908befab1db3ccd8d1cd335a0af320b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000008.json @@ -0,0 +1,46 @@ +{ + "episode_index": 8, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..032a295c3609ae903175108eba717a3139e21503 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000009.json @@ -0,0 +1,46 @@ +{ + "episode_index": 9, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..ead78b4e093f966a949c71039eec0e050222adbc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000010.json @@ -0,0 +1,80 @@ +{ + "episode_index": 10, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical small white trashbin, pour its contents out.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..933da4331aa97c4900a2871d832c3691e263e2ce --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000011.json @@ -0,0 +1,46 @@ +{ + "episode_index": 11, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..bce414fdc7c201b20474f36d0de46e697a73f599 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000012.json @@ -0,0 +1,80 @@ +{ + "episode_index": 12, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small container with yellow logo, then pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2d19bb0e0fedd3cbb34db060bfc24d092b23dc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000013.json @@ -0,0 +1,80 @@ +{ + "episode_index": 13, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..b1dc864e9502f9f04a1385e5622d3513bb31a716 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000014.json @@ -0,0 +1,46 @@ +{ + "episode_index": 14, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, dump balls in big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..ae9bee428bb83fd0a89545ac117f38002224021d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json @@ -0,0 +1,46 @@ +{ + "episode_index": 15, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..2006029058e0f5c458aba4ba9be556d8027796e3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json @@ -0,0 +1,80 @@ +{ + "episode_index": 16, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the black-specked gray tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..babd8d6814eb51c1614db0778e562b4153aac7e3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json @@ -0,0 +1,80 @@ +{ + "episode_index": 17, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple white plastic trashbin, pour contents into big bin", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..fffaacda569ca4cbbc2751b79dff0893c86b47fb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json @@ -0,0 +1,80 @@ +{ + "episode_index": 18, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletrashbin and transfer balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce29afb52cb6b566fe406103e92e960be25d892 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json @@ -0,0 +1,46 @@ +{ + "episode_index": 19, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small light gray waste bin and pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..7b157431c88b3fdbcbd58066f6b0f8483ff28bc8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json @@ -0,0 +1,46 @@ +{ + "episode_index": 20, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the gray plastic trashbin, pour in bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..a96139fc30e15abcea9b6c2ecf97ccf7b927a699 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json @@ -0,0 +1,80 @@ +{ + "episode_index": 21, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..0e6d74620ea23b567c428d9743f8fe36582de75c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json @@ -0,0 +1,80 @@ +{ + "episode_index": 22, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin using the arm to pour balls.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa47d54da84757e53b716d8fdd4c0c6899d9206 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json @@ -0,0 +1,46 @@ +{ + "episode_index": 23, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..a32dd780e59ec205af06de72f186cba06a5608a2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json @@ -0,0 +1,46 @@ +{ + "episode_index": 24, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the rectangular tabletop waste container and pour all balls into bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..a06b08a9b68d1fb7b92918b50c3799efba3d6c35 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json @@ -0,0 +1,80 @@ +{ + "episode_index": 25, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the simple tabletop trashbin and tilt.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..f1566ff086befa207bfaa81cfe2adec691dc6e1d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json @@ -0,0 +1,46 @@ +{ + "episode_index": 26, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour balls into the bin.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..325f244c3ab6bb22235974c4435723fb6b068562 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json @@ -0,0 +1,46 @@ +{ + "episode_index": 27, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the desk-sized white tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..5f5e2e20c310ffcd731ff493f1acc55c842f6224 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json @@ -0,0 +1,46 @@ +{ + "episode_index": 28, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..bda711451d2a6910fb6be484e27b802b7cba27f9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json @@ -0,0 +1,46 @@ +{ + "episode_index": 29, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the round gray tabletrashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..16520bce4bf6881304042d1387496a8719cd016c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json @@ -0,0 +1,46 @@ +{ + "episode_index": 30, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, then pour contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..27be261ff8e150ef34c2c5d6a73a4f9ed1f213a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json @@ -0,0 +1,46 @@ +{ + "episode_index": 31, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin with grooves on sides, then pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..0b2a0706086e5b820aa2e88ff49bba32be586e32 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json @@ -0,0 +1,46 @@ +{ + "episode_index": 32, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a2ca23aecad672164c490f6c0f3fc6b073a11a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json @@ -0,0 +1,46 @@ +{ + "episode_index": 33, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white bin with flared top edge and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..1c06d1f5d28082b6072cd3d3d700126a2ea14d7e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json @@ -0,0 +1,80 @@ +{ + "episode_index": 34, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour the balls into big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..97829e820f1e9ce641c26dc05f9c4c1412781f5d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json @@ -0,0 +1,46 @@ +{ + "episode_index": 35, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..94d8b3b7f71aef78a8341869ef8bd0e497d2c398 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json @@ -0,0 +1,80 @@ +{ + "episode_index": 36, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the white round tabletrashbin to dump its contents out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..b3d1f7ec96da7d9d41e9d54eaf3e2d89a3dd4505 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json @@ -0,0 +1,80 @@ +{ + "episode_index": 37, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the white bin with flared top edge, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..44be37d7fa8102a951bf94630b886289ab6ef6d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json @@ -0,0 +1,46 @@ +{ + "episode_index": 38, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..6083be3930ce91a37277ccfb914c62d9ad054fca --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json @@ -0,0 +1,46 @@ +{ + "episode_index": 39, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..be31af56a2116851210e1608aaa6effaf8b69f4a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json @@ -0,0 +1,46 @@ +{ + "episode_index": 40, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour contents.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..5383e685efbc999b5861c30b9e2b7f8b83723b39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json @@ -0,0 +1,46 @@ +{ + "episode_index": 41, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..da624772c5a0f908618492564cdc61380590f30c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json @@ -0,0 +1,46 @@ +{ + "episode_index": 42, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the tabletrashbin with yellow symbol, pour in bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1e1ebecd5bbf3e4f5a283d4aa1ad8c8764b156 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json @@ -0,0 +1,80 @@ +{ + "episode_index": 43, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, then pour balls into the bin.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..cd46c1e04ac40a07ab406bb81d0e4052a7944ccf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json @@ -0,0 +1,46 @@ +{ + "episode_index": 44, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour its contents into bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..2a65cb3a98ac7f30c634baece587a2cf38441c84 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json @@ -0,0 +1,46 @@ +{ + "episode_index": 45, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..202f45cef3bd9ea1ce5e42b094fc9f17eda05245 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json @@ -0,0 +1,46 @@ +{ + "episode_index": 46, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the smooth plastic tabletrashbin, then pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..11a8d11eeedfeb1ed715731097f91f09b49a19a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json @@ -0,0 +1,46 @@ +{ + "episode_index": 47, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the tabletrashbin with black specks and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..9b234b25ada5e4457cc24e8731ef7083e8921aaa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json @@ -0,0 +1,46 @@ +{ + "episode_index": 48, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the compact rectangular tabletrashbin, dump contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..b4839ea44b60683ce513b78144979724caea2c89 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json @@ -0,0 +1,80 @@ +{ + "episode_index": 49, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the desk-sized white tabletrashbin, pour in bin", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 151, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 152, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..fd76b4bb8a5727dbac6d32e8872e32696ad442fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json @@ -0,0 +1,80 @@ +{ + "episode_index": 50, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..76bf50e88ebb869f20258f50727348a4b9c51395 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json @@ -0,0 +1,46 @@ +{ + "episode_index": 51, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..220b5d1c69be235f936d64973728d2b9e5f2f0e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json @@ -0,0 +1,46 @@ +{ + "episode_index": 52, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5f20d03c6a59c4accaaef5edebe7833454b137 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json @@ -0,0 +1,80 @@ +{ + "episode_index": 53, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..13f6fb310cdcbe77c830499b234cd4a5aaa8f987 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json @@ -0,0 +1,46 @@ +{ + "episode_index": 54, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin and pour its contents into bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..cae16e21d5eda4ac931c28c1d8b5342b14a39249 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json @@ -0,0 +1,46 @@ +{ + "episode_index": 55, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the simple white plastic trashbin and pour carefully.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..2886a58a511af2147d0b74391ed49e0acde42df4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json @@ -0,0 +1,46 @@ +{ + "episode_index": 56, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray trashbin with open top and pour the balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..1157b5352a51777a36d209011db68859f4e7f80f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json @@ -0,0 +1,80 @@ +{ + "episode_index": 57, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..3a2531a22efd18585cc6e602e281e5b6cdda9e12 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json @@ -0,0 +1,80 @@ +{ + "episode_index": 58, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1ce3374abcc45c67c10ce201d0e4ba8ffeef28 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json @@ -0,0 +1,46 @@ +{ + "episode_index": 59, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..76bcb377e9c9866222259147357213e95abf2256 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json @@ -0,0 +1,80 @@ +{ + "episode_index": 60, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin and pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a60e58b494ecbc9553dc5a7116798f69d9eea1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json @@ -0,0 +1,46 @@ +{ + "episode_index": 61, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the cylindrical small white trashbin into the bin.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..12aea95d521109ae0ef6b6770e2105d8e23cbbc9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json @@ -0,0 +1,80 @@ +{ + "episode_index": 62, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..5a21dbdbe65efda9e337c3b3abdca80370ec5be6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json @@ -0,0 +1,80 @@ +{ + "episode_index": 63, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with smooth grooves, pour contents.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb28f7b4d6b854147dfb25d9a4897f144f683ac --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json @@ -0,0 +1,46 @@ +{ + "episode_index": 64, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small cylindrical speckled tabletrashbin and pour carefully.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..789fbc18d75b94c1e3f986f9ccdf5625d3bd0e06 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000065.json @@ -0,0 +1,46 @@ +{ + "episode_index": 65, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..8df62df8bb5351967d4400b29201a565416fa9c6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000066.json @@ -0,0 +1,46 @@ +{ + "episode_index": 66, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray waste container using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..46cc574f0da2ebb5e099a2da0add7ab886120c37 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000067.json @@ -0,0 +1,46 @@ +{ + "episode_index": 67, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..17f6453ba0918979ef2ebf29b0cf78ccb0ae4a21 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000068.json @@ -0,0 +1,80 @@ +{ + "episode_index": 68, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the white round tabletrashbin to empty the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..2a243f03cb0b915e2159a3db16d44440629dade4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000069.json @@ -0,0 +1,46 @@ +{ + "episode_index": 69, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple tabletop trashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..e240525ee89ecd739487028c8b24a97bbef2a52f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000070.json @@ -0,0 +1,46 @@ +{ + "episode_index": 70, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc546501e0f69b218b5417f84b3f816d7ae7a38 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000071.json @@ -0,0 +1,46 @@ +{ + "episode_index": 71, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin, dump balls in big bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..df7062131a886a39c328fa9ab6f1b564b2e6be9e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000072.json @@ -0,0 +1,80 @@ +{ + "episode_index": 72, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty its contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..6a21489589cf4868a86b1af51ace146b6fdf627b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000073.json @@ -0,0 +1,80 @@ +{ + "episode_index": 73, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin with dark pattern into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..709df086aef6ca0244c3f9c5e338cfbf198b7679 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000074.json @@ -0,0 +1,80 @@ +{ + "episode_index": 74, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical small white trashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..274ce43f74e3ed2802ab6b1472d87f2761adf2c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000075.json @@ -0,0 +1,46 @@ +{ + "episode_index": 75, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..6113ffd7b1bb31be6420ab06d639f107c48d859b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000076.json @@ -0,0 +1,80 @@ +{ + "episode_index": 76, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges and transfer balls.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..87a4710642c912e90951b6728aae198cfd8e4366 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000077.json @@ -0,0 +1,80 @@ +{ + "episode_index": 77, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol with arm and pour contents", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..20c939ccff0e61380eaf1b887a4bd22cdd4114cf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000078.json @@ -0,0 +1,46 @@ +{ + "episode_index": 78, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..7a566abbb8b253ffde86f36ee9618cfee0b6ec7a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000079.json @@ -0,0 +1,46 @@ +{ + "episode_index": 79, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..bea14d9a9bebe619498eece4ea14325f60d3dea3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000080.json @@ -0,0 +1,80 @@ +{ + "episode_index": 80, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..4788ec4baf0a8986f9375601b09b9ccd1ac38215 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000081.json @@ -0,0 +1,46 @@ +{ + "episode_index": 81, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin and pour all balls into bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..c53600fd6357148b8704acdc02c73da4ad4711d5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000082.json @@ -0,0 +1,46 @@ +{ + "episode_index": 82, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray smooth tabletrashbin, pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..7a2c8a2546ae849d9c9cc954c95952c81aa18e5f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000083.json @@ -0,0 +1,46 @@ +{ + "episode_index": 83, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..44150f6519709a17d8f266d3b5dbb5cc89be9d9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000084.json @@ -0,0 +1,46 @@ +{ + "episode_index": 84, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray smooth tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..cadbdae6bb54b049f47a879ab68aeccc98b0633c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000085.json @@ -0,0 +1,46 @@ +{ + "episode_index": 85, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the round gray tabletrashbin, pour in bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..057ff0ee3a91cba302616f6c894060c933db155f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000086.json @@ -0,0 +1,80 @@ +{ + "episode_index": 86, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin, pour its contents out.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..860b0ad66ab441cc3b60b23b33f2a5846fc33b26 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000087.json @@ -0,0 +1,80 @@ +{ + "episode_index": 87, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact rectangular tabletrashbin and pour contents down.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..19e0cec30c26309aaadcf43c5175823f13dcd449 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000088.json @@ -0,0 +1,46 @@ +{ + "episode_index": 88, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray trashbin with open top and dump the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..506d4821ce8b254eefeb8a88a4b4e1106fc9ae8d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000089.json @@ -0,0 +1,80 @@ +{ + "episode_index": 89, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, dump balls in big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb6f10e212b1f273b4b11bb6f4ef40d64541519 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000090.json @@ -0,0 +1,80 @@ +{ + "episode_index": 90, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour into bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..bc481e1cd8f206dc1ae8435670949debe73ae1a2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000091.json @@ -0,0 +1,46 @@ +{ + "episode_index": 91, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..df9cb52efc4db121e43bd653a54bf067c31c4b3b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000092.json @@ -0,0 +1,46 @@ +{ + "episode_index": 92, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c41ba69be36e197e7cae2381c53e1bb506b3f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000093.json @@ -0,0 +1,46 @@ +{ + "episode_index": 93, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..47c1661a82a312893c1fee60c229ea49d760b6a9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000094.json @@ -0,0 +1,80 @@ +{ + "episode_index": 94, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and empty its contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..4cfd6fa6b9cd3422d2d9def31a302e0dc7fe3707 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000095.json @@ -0,0 +1,80 @@ +{ + "episode_index": 95, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the rectangular tabletop waste container and empty it out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..7d906c6c36e6028c74e2fd38c1a68bb7dd076352 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000096.json @@ -0,0 +1,46 @@ +{ + "episode_index": 96, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin using the arm, pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..c50f90bad372db77e059b26046bc3cc25eaab8ff --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000097.json @@ -0,0 +1,80 @@ +{ + "episode_index": 97, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the open-top tabletrashbin and pour all balls into bin", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 239, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 240, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..84f0e9c8f3b8d2ab9f6f83b90bdcf406e6b0f106 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000098.json @@ -0,0 +1,80 @@ +{ + "episode_index": 98, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact rectangular tabletrashbin and dump its balls.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..591d7b888c784a556480dcf3444ce2604d73daf6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000099.json @@ -0,0 +1,80 @@ +{ + "episode_index": 99, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin and transfer balls to the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..f64420698c9583791710feaf2e46675ece462552 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000100.json @@ -0,0 +1,46 @@ +{ + "episode_index": 100, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the mini white trashbin for desk and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d1a3fe6b453b6392b25fd2c04d26c5c7956780 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000101.json @@ -0,0 +1,80 @@ +{ + "episode_index": 101, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks and pour into bin.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..21f4ed206f731638ba25d9c0131f111fc0892d5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000102.json @@ -0,0 +1,46 @@ +{ + "episode_index": 102, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the tabletrashbin and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..8db8d43114b46f74b205ecfb5b8617278b57049d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000103.json @@ -0,0 +1,46 @@ +{ + "episode_index": 103, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with tapered sides and empty it into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..5faddb67a4e8e8a99a38af500d3a4b27a852d2d7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000104.json @@ -0,0 +1,46 @@ +{ + "episode_index": 104, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the light gray bucket-shaped waste bin and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..c5314fe71dab260f8ccc85195736ccf0ff2e2bd1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000105.json @@ -0,0 +1,80 @@ +{ + "episode_index": 105, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the open-top tabletrashbin and pour.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..c30975626abb3ad2bc5ed7c5399c39ad48867c9a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000106.json @@ -0,0 +1,46 @@ +{ + "episode_index": 106, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, dump balls in big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..6375431feb888d1db2fc6701ff629b8396074ba1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000107.json @@ -0,0 +1,46 @@ +{ + "episode_index": 107, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the compact tabletop trashbin, then pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..362dc98d50f101affcbdd11fce1e3603952897a9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000108.json @@ -0,0 +1,46 @@ +{ + "episode_index": 108, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..5ab009dddb70698ad064be807790c1e48db8202c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000109.json @@ -0,0 +1,46 @@ +{ + "episode_index": 109, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the cylindrical small white trashbin to pour the balls out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..8ca673107c0dd3fd928e0104b4461a94191977d7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000110.json @@ -0,0 +1,46 @@ +{ + "episode_index": 110, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..13513c9b6be177175a39aaadda050118d342c80f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000111.json @@ -0,0 +1,80 @@ +{ + "episode_index": 111, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the desk-sized white tabletrashbin, pour the balls into big bin", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 79, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 80, + "end_frame": 155, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 156, + "end_frame": 242, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 243, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..008b0208cd56e4377ae152657c739d73fdc2d3bc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000112.json @@ -0,0 +1,46 @@ +{ + "episode_index": 112, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small trash container and tilt.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..10cf32a12e3241952949d3368a7d7a2c98d9ed25 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000113.json @@ -0,0 +1,46 @@ +{ + "episode_index": 113, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the bucket-shaped gray trashbin and dump its balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..30a649c527cdb906b69ad40e4a2da958b9f74eb3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000114.json @@ -0,0 +1,80 @@ +{ + "episode_index": 114, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small white trashbin up, pour all balls inside bin", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 223, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "left", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a7de2c446ef14649a5b41aba50b32c9ddd9554 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000115.json @@ -0,0 +1,46 @@ +{ + "episode_index": 115, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 74, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..78060df4f80398c1e3f750584d61319524a0602a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000116.json @@ -0,0 +1,46 @@ +{ + "episode_index": 116, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..68f9041d4ff476c275bd015d91b1febdfc591021 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000117.json @@ -0,0 +1,80 @@ +{ + "episode_index": 117, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the open-top tabletrashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7a4bcf4634c0fbf3c11b8ed04c5588f871fe34 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000118.json @@ -0,0 +1,80 @@ +{ + "episode_index": 118, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin with arm and pour contents", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..36d1497d4ffa1f3c154f5dab6153a582373f68f3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json @@ -0,0 +1,46 @@ +{ + "episode_index": 119, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular bin for waste and empty it.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..63b037f698c583b1569c846f73fd41461ce47850 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json @@ -0,0 +1,46 @@ +{ + "episode_index": 120, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the gray tabletrashbin, pour its contents out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..fbfd83294498bcd90d884056531fb7a6df95db33 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json @@ -0,0 +1,80 @@ +{ + "episode_index": 121, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..605967989fc06fe74848e1b7d2d8dae858fc7820 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json @@ -0,0 +1,46 @@ +{ + "episode_index": 122, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the lightweight trash container into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..eaecdcee8d8b299b115faaa7aceeb2cb042b79a4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json @@ -0,0 +1,80 @@ +{ + "episode_index": 123, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..b11bf0ff0880a67840ade84321bae465dcc58eab --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json @@ -0,0 +1,46 @@ +{ + "episode_index": 124, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin and transfer balls to the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..c3bf77cfa9b1e096aeb5dc3cf4f7b4f1423b679c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json @@ -0,0 +1,46 @@ +{ + "episode_index": 125, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray bucket-shaped waste bin, pour the balls into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..3869bc1aceaff50e8943a7a7ac1a3d1e72bb85f2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json @@ -0,0 +1,80 @@ +{ + "episode_index": 126, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour into the big bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5fbb725545f6450e155280e516c3c84bee2b0d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json @@ -0,0 +1,46 @@ +{ + "episode_index": 127, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the black-specked gray tabletrashbin and empty it.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..8a8412b8e6c961c70af5913582b3bbd73b54bac7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json @@ -0,0 +1,80 @@ +{ + "episode_index": 128, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..f8414cc2354fa5e4e29ba37076db96cc6ebc2961 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json @@ -0,0 +1,46 @@ +{ + "episode_index": 129, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the lightweight trash container using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..7eba9d66fc157b5d8888adc5c4602ae8d2dc5728 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json @@ -0,0 +1,46 @@ +{ + "episode_index": 130, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour into the big bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..92e09b9b1763800f723b82793c2240e66a4f5caf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json @@ -0,0 +1,46 @@ +{ + "episode_index": 131, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin and pour it out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..f50781d155f18e3d9f24d771b69353caf4e88105 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json @@ -0,0 +1,46 @@ +{ + "episode_index": 132, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the black-specked gray tabletrashbin, then pour the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..a797f7864ac32761f8c8cb6b1b5f70f22ffdb1a0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json @@ -0,0 +1,80 @@ +{ + "episode_index": 133, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..0d6974981a9f69be67b28b5f109c45beb118f608 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json @@ -0,0 +1,80 @@ +{ + "episode_index": 134, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the mini white trashbin for desk and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..ce3a81bf0efa714d0b82b0f68044609cc3cd6500 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json @@ -0,0 +1,80 @@ +{ + "episode_index": 135, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin and pour the balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 151, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 152, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..cea4d6c152d906ea54e748637dbe45f137f28e7d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json @@ -0,0 +1,46 @@ +{ + "episode_index": 136, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small white trashbin using the arm, pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..5e62706a94da8ef6078ad089c2d347240546537a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json @@ -0,0 +1,80 @@ +{ + "episode_index": 137, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and transfer balls to the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..0b6167dc205c94a98b5f6facd5261f574be389a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json @@ -0,0 +1,80 @@ +{ + "episode_index": 138, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the dark gray cylindrical tabletrashbin, then pour contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..51d8a5f873bf4be0439ca84fddc4a1b538474ee4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json @@ -0,0 +1,80 @@ +{ + "episode_index": 139, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletop trashbin and empty its contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..cd985f873a563d506f9682fb44a0631cfc66d066 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json @@ -0,0 +1,80 @@ +{ + "episode_index": 140, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the white cylindrical waste bin, dump contents", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..9b2a64cfe6c3c1c17b56be13a033a33aab68a56d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json @@ -0,0 +1,46 @@ +{ + "episode_index": 141, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin for tabletop trash and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..c3af0eb6d82def59a5ac90ff799f8a0762dbf05e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json @@ -0,0 +1,80 @@ +{ + "episode_index": 142, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..58db5dc60cf79b8c96f63b1d4c5b2973c5275072 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json @@ -0,0 +1,80 @@ +{ + "episode_index": 143, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..351490c82f8bf7cef8a73eb0299d874fc5bfa670 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json @@ -0,0 +1,80 @@ +{ + "episode_index": 144, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdd401a3cb5dfbb3b53fee5a306e07992125920 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json @@ -0,0 +1,46 @@ +{ + "episode_index": 145, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin, empty into the big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..fb893ee0e4ebf32e42f619cb6e07308e27bbbf4f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json @@ -0,0 +1,80 @@ +{ + "episode_index": 146, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin, and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..45d182b483f85abe1696650f271dd7de5f8ffb9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json @@ -0,0 +1,80 @@ +{ + "episode_index": 147, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container, dump balls in big bin", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..350c19e1684776e9f9b72968e8a97e7f7751659c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json @@ -0,0 +1,80 @@ +{ + "episode_index": 148, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 152, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 153, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..1617250af9d7c12457f0d56eac992bc3bf5f94a3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json @@ -0,0 +1,80 @@ +{ + "episode_index": 149, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour contents down.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 222, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "left", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd6077c7a15de57a6ebbab9f8613454629b80b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json @@ -0,0 +1,46 @@ +{ + "episode_index": 150, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour contents down.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..efdf7ae0bf3c158cd94ec55565dca45254b09979 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json @@ -0,0 +1,80 @@ +{ + "episode_index": 151, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical tabletrashbin with flared rim to dump its contents out.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..cba5e318203ead18135e8b54b2d1b85545f5521c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json @@ -0,0 +1,46 @@ +{ + "episode_index": 152, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the bucket-shaped gray trashbin and pour the balls out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..953c406df7141e7ad5941ccf0bb1f1bfd41598aa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json @@ -0,0 +1,80 @@ +{ + "episode_index": 153, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the open-top tabletrashbin, then pour balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..afe025d7cff598fca46d331b62968a9909b3527c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json @@ -0,0 +1,46 @@ +{ + "episode_index": 154, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white round tabletrashbin, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..34ebc4e93a88546a9b4a6b7dc2f73131d71db72b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json @@ -0,0 +1,46 @@ +{ + "episode_index": 155, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..5ecd9fd56de0da35b14af409c3cac66ac749010a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json @@ -0,0 +1,46 @@ +{ + "episode_index": 156, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white round tabletrashbin and pour it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..9fdcb2b45d91e7d55cfe81e69f80ee873da87667 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json @@ -0,0 +1,46 @@ +{ + "episode_index": 157, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the gray tabletrashbin and empty it out.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..ad89343d170280db4a344f6071fcb13e2b613ccc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json @@ -0,0 +1,46 @@ +{ + "episode_index": 158, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the tabletrashbin for holding waste and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..fab4a1e1f62bd22a1d231c680769207a0cc036ca --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json @@ -0,0 +1,46 @@ +{ + "episode_index": 159, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin for holding waste, then pour balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..3c14d33fbe62955cf5bf62d44595563c72ff7cf1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json @@ -0,0 +1,46 @@ +{ + "episode_index": 160, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..c58b53d4a750b0223b2d2158c09f8705ea0adb34 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json @@ -0,0 +1,80 @@ +{ + "episode_index": 161, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..529edca0b8731a5187052418d92b2056c7aa4b1c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json @@ -0,0 +1,46 @@ +{ + "episode_index": 162, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..b1de19549b2338dedd38645116667fc6c35d7e2b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json @@ -0,0 +1,80 @@ +{ + "episode_index": 163, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray waste container and pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..1668849bb3fd4341a0694501c07cda283a01c8c7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json @@ -0,0 +1,46 @@ +{ + "episode_index": 164, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and empty it into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..87c81fa0ced6612bcf365c1440a12cb228ff6510 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json @@ -0,0 +1,46 @@ +{ + "episode_index": 165, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with slightly flared top and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..734fa8ed7cbd427f77bf5882b9fd06be016d81f2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json @@ -0,0 +1,46 @@ +{ + "episode_index": 166, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple tabletop trashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..72651f1e884361879b003222da427e3ba7646507 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json @@ -0,0 +1,46 @@ +{ + "episode_index": 167, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray cylindrical trashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..fb23fcd2dda1fec2e215445ca3a8a6b591bd7ea7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json @@ -0,0 +1,80 @@ +{ + "episode_index": 168, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..64de46eff3423a568bfb22d202736d2030ff75bf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json @@ -0,0 +1,46 @@ +{ + "episode_index": 169, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and transfer balls to the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..a9468ed3262682ff8832d19fa600a3bb9a1f5c03 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json @@ -0,0 +1,46 @@ +{ + "episode_index": 170, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white round tabletrashbin and dump the balls.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..cc4d05a41cab3a377649f3bac6b5dabcb9881771 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json @@ -0,0 +1,80 @@ +{ + "episode_index": 171, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, then pour the balls.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..360cd58903045ab422abbd2564a55237aedfd653 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json @@ -0,0 +1,80 @@ +{ + "episode_index": 172, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour its contents into bin.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..976e84da793c84ebd1cc5d08faec3110ac94c5fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json @@ -0,0 +1,80 @@ +{ + "episode_index": 173, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletrashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..c6099ca51550fb96f60f9e0d6d708acc1456abba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json @@ -0,0 +1,80 @@ +{ + "episode_index": 174, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the gray plastic trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..f42f8dbc6430c843cb3444e0f01d16e2784cc841 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json @@ -0,0 +1,46 @@ +{ + "episode_index": 175, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste, pour into the big bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..ed82ac4cd86f25768d8941927845fd0a1aaaa0cc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json @@ -0,0 +1,46 @@ +{ + "episode_index": 176, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the open-top tabletrashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc4198bca7c0ecf39b3ec04ff0abc41f67761d1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json @@ -0,0 +1,80 @@ +{ + "episode_index": 177, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray cylindrical trashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..eec91e370e9b1e0cdc35916c1671c3f75fed0f6e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json @@ -0,0 +1,46 @@ +{ + "episode_index": 178, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5cdd5571688a841a5fbde0c68158963a9acae8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json @@ -0,0 +1,46 @@ +{ + "episode_index": 179, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour carefully.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6d552eee8e0786a3263d20deb140ced2ac5f4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json @@ -0,0 +1,80 @@ +{ + "episode_index": 180, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the dark gray cylindrical tabletrashbin, pour its contents away.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..af70121940cdf63028d74ff3f02e509e7656b2ba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json @@ -0,0 +1,46 @@ +{ + "episode_index": 181, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the white bin with flared top edge, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..ec17fe85c45218c7246a75f008dd7a9c4e47963f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json @@ -0,0 +1,46 @@ +{ + "episode_index": 182, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white bin with flared top edge, then pour balls into the bin.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..67a503e77b90aabd424d3ac4ebfc9798940c64e6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json @@ -0,0 +1,46 @@ +{ + "episode_index": 183, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin made of plastic, then pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a8661559eb739018f5aab82fcfb12a9800fab4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json @@ -0,0 +1,46 @@ +{ + "episode_index": 184, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..2eda20c1167678fe9259d2f7f1364a54d2183d53 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json @@ -0,0 +1,46 @@ +{ + "episode_index": 185, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste up, pour all balls inside bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..a9687b9df7f808224b888438a2e5d5d40e43c6c7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json @@ -0,0 +1,46 @@ +{ + "episode_index": 186, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..507d2b955c3836ad5cc746ae3423ae288682f920 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json @@ -0,0 +1,80 @@ +{ + "episode_index": 187, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and pour it out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..bf00df91abef3858d9a2af9327437f76ec7b93fb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json @@ -0,0 +1,80 @@ +{ + "episode_index": 188, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin and pour.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 82, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 83, + "end_frame": 158, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 159, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 67, + "arm": "right", + "kind": "close", + "start_frame": 60, + "end_frame": 74 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..a16e690c8d2461424bc5f26424d16cf6f78fdd55 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json @@ -0,0 +1,80 @@ +{ + "episode_index": 189, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ef50e966b30f78fbbbd4971cdbffb9b929f2f2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json @@ -0,0 +1,46 @@ +{ + "episode_index": 190, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray bucket-shaped waste bin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..6bda89441c0122d670ae672dc86a4aa1d73f74d7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json @@ -0,0 +1,46 @@ +{ + "episode_index": 191, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..6b6f1dd4b93de7fc1df61c2d4557e0767ebd4a65 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json @@ -0,0 +1,46 @@ +{ + "episode_index": 192, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..1c468fc0e2ee999cfc4e0654fd7d514ff01e31a3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json @@ -0,0 +1,80 @@ +{ + "episode_index": 193, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with black specks and dump the balls.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 152, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 153, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 137, + "arm": "right", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..61deac432785953ae79ea869abc5eb29febf44e8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json @@ -0,0 +1,80 @@ +{ + "episode_index": 194, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and empty its contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..97ff80494533b95a88ba510f373cfe8697db1fcc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json @@ -0,0 +1,46 @@ +{ + "episode_index": 195, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the simple white plastic trashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..fd67fa95b23c6b019c8f1f5785b0739e6235de24 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json @@ -0,0 +1,80 @@ +{ + "episode_index": 196, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..5d641b106330d64a64201dc336b443e32a9ceb93 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json @@ -0,0 +1,80 @@ +{ + "episode_index": 197, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the desk-sized white tabletrashbin into the bin.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..8b7acb87cd374a0969819774214cc199391bf5fb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json @@ -0,0 +1,46 @@ +{ + "episode_index": 198, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..284ceb2f242c10812ffeb821ecb7ee6aa6ddb04f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json @@ -0,0 +1,80 @@ +{ + "episode_index": 199, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..97c4b73ef11a566f7de81672281446b0ef8894a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json @@ -0,0 +1,80 @@ +{ + "episode_index": 200, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the cylindrical small white trashbin to dump its contents out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a6afec992983dbc15ec026c3c20e7eb9aab028 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json @@ -0,0 +1,46 @@ +{ + "episode_index": 201, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin using the arm, pour balls.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..a655f7ee459c9bc0e0542c87af3c5079f6c931dc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json @@ -0,0 +1,80 @@ +{ + "episode_index": 202, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the plastic tabletrashbin and empty it.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..f0cdb92f16c7b13bf1281ef154645bc4518b7874 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json @@ -0,0 +1,80 @@ +{ + "episode_index": 203, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the desk-sized white tabletrashbin to pour the balls out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..7f908174d72fe80e85a69e90010ea278548f8755 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json @@ -0,0 +1,46 @@ +{ + "episode_index": 204, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small container with yellow logo using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..a292ff65f7f192aefc92bf0d5de9762a3a53da67 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json @@ -0,0 +1,80 @@ +{ + "episode_index": 205, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple tabletop trashbin and pour the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..ef69478a0d94e2b23be2ee166c34dd43b02db9e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json @@ -0,0 +1,46 @@ +{ + "episode_index": 206, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a74256b5ae43e72eb7423512ef33e25d43dcec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json @@ -0,0 +1,46 @@ +{ + "episode_index": 207, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the minimalist gray tabletrashbin, pour the balls into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c62a40b5d161a1549f882d27b24cfa18ba64dd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json @@ -0,0 +1,46 @@ +{ + "episode_index": 208, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small tabletop trashbin and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..763fdd8b2d13ae5e5d122c55be2f2b8ae5adaa09 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json @@ -0,0 +1,46 @@ +{ + "episode_index": 209, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the light gray tabletrashbin to dump its contents out.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec35e35e53b09a5697fecf4d0518edd303a3160 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json @@ -0,0 +1,80 @@ +{ + "episode_index": 210, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the desk-sized white tabletrashbin up, pour all balls inside bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..c0115014bc2ddd2df43e8b6863f474e5a77114bd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json @@ -0,0 +1,80 @@ +{ + "episode_index": 211, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple tabletop trashbin into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..9df961538d896b218e798ba74cdea1205d583c13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json @@ -0,0 +1,80 @@ +{ + "episode_index": 212, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the cylindrical small white trashbin and pour.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..3235cad6c5b7d21b05c2b206294f423816a187ef --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json @@ -0,0 +1,46 @@ +{ + "episode_index": 213, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with black specks and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..bd94d79d167b6f96c22f5842eef6bb0e5b427dba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json @@ -0,0 +1,46 @@ +{ + "episode_index": 214, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..3e326cf209191b57da3384812b285bcfbd97f648 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json @@ -0,0 +1,46 @@ +{ + "episode_index": 215, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..a1f197af3e759e921672df0de1940a1f97667c7f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json @@ -0,0 +1,80 @@ +{ + "episode_index": 216, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..178b80517c25ef70402fed8ea889d930b2d36575 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json @@ -0,0 +1,46 @@ +{ + "episode_index": 217, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5471a3d54988485ae2f5c7f0f9723f5d7afd8e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json @@ -0,0 +1,46 @@ +{ + "episode_index": 218, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white bin with flared top edge using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..8105e93cb5412dce5a0d0ff60f0d201fe893a34c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json @@ -0,0 +1,80 @@ +{ + "episode_index": 219, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small white trashbin and pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..43438a02ec6fbe35f003f40291b7c1275ff96e41 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json @@ -0,0 +1,46 @@ +{ + "episode_index": 220, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical tabletrashbin with flared rim and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..9f22374a59b76ceec1ee377601a2285cfc7e9613 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json @@ -0,0 +1,46 @@ +{ + "episode_index": 221, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour its contents into bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..117835c509176776af0aaa97624e9fb7524d53dc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json @@ -0,0 +1,46 @@ +{ + "episode_index": 222, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small tabletop trashbin, pour in bin", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac5de84df5551de3570604d6a3f93049871dca9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json @@ -0,0 +1,80 @@ +{ + "episode_index": 223, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..30c023912cbe2097aa1449b2a6209d7181d8666e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json @@ -0,0 +1,46 @@ +{ + "episode_index": 224, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, then pour balls into the bin.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..7df12114494ec998948547e82fb68b859d425180 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json @@ -0,0 +1,80 @@ +{ + "episode_index": 225, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin using the arm to pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..eb3021985382055412d1a4b8fcca656cb1d8a1ad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json @@ -0,0 +1,80 @@ +{ + "episode_index": 226, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the small white trashbin, dump contents", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..deea8ba601e54e7c6fdf1e1289d9cd9949158e2a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json @@ -0,0 +1,80 @@ +{ + "episode_index": 227, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 242, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 243, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..64caa76cbce054b0a616a9e1a9248a98609f8626 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json @@ -0,0 +1,80 @@ +{ + "episode_index": 228, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with grooves on sides into the bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..2f676ded89b5ba298a736465869f955d6f6d90c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json @@ -0,0 +1,80 @@ +{ + "episode_index": 229, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin, pour contents into big bin", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..b22b7cb13880b74edd6a69db8fcd792ebb199e51 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json @@ -0,0 +1,80 @@ +{ + "episode_index": 230, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small tabletrashbin, pour its contents out.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..99f12775f220c61fa5a0fe502fc2c78e4d2d477e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json @@ -0,0 +1,80 @@ +{ + "episode_index": 231, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, then pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..94108d35ccd079eeaa2af79e1b071de5a476c832 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json @@ -0,0 +1,80 @@ +{ + "episode_index": 232, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the small white trashbin, and pour.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..0153ef6c4132b69efdba67b018d56db1f5c61554 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json @@ -0,0 +1,80 @@ +{ + "episode_index": 233, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and dump its balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..adc9ebe5a2bab3953134f32835f15b583301197e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json @@ -0,0 +1,46 @@ +{ + "episode_index": 234, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae061b86e02d0f99a3252e500439150579ca309 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json @@ -0,0 +1,46 @@ +{ + "episode_index": 235, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..e80d6b41cb9d80b66149c6bbaf1f70ac36e2f263 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json @@ -0,0 +1,46 @@ +{ + "episode_index": 236, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletop trashbin with arm and pour contents", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..5fb9face52a770b3c19d8a76fd35ec24a0a12625 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json @@ -0,0 +1,80 @@ +{ + "episode_index": 237, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the lightweight trash container and dump the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..99f2c303950ac54aa11fcc3e3f8f46ec9ea000d1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json @@ -0,0 +1,46 @@ +{ + "episode_index": 238, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the tabletrashbin with grooves on sides and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..393ca4337cc2e0820d8f21f0e0c92781b2e363b3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json @@ -0,0 +1,46 @@ +{ + "episode_index": 239, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with smooth grooves, pour its contents away.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..af35daca3278e452e5056de3a9c5ca2a626dd16c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json @@ -0,0 +1,80 @@ +{ + "episode_index": 240, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small rectangular bin for waste, pour its contents out.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..f85f39bde5b6f3cb601e91584f622c29a0b8b7ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json @@ -0,0 +1,46 @@ +{ + "episode_index": 241, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..1faf0ec2e00e1642d4f3e3ac898e630b2f6097ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json @@ -0,0 +1,46 @@ +{ + "episode_index": 242, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin, then pour balls into the bin.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..cbdd02127245b01c42312eca7c2a408af52a7286 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json @@ -0,0 +1,80 @@ +{ + "episode_index": 243, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin with flared rim, pour its contents out.", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 226, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "left", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..9b313b5e734e9b3f5edd5ec7763e38f788258fdb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json @@ -0,0 +1,46 @@ +{ + "episode_index": 244, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..e5eb15fde410ca97208b91c3b863f8b7f33c1368 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json @@ -0,0 +1,46 @@ +{ + "episode_index": 245, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the tabletrashbin to pour the balls out.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..773e1e7d7209c7886f5328ed094940160a5a9cfb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json @@ -0,0 +1,46 @@ +{ + "episode_index": 246, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin using arm, pour contents inside", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..cbca3755479c939ab8253b444406dd873255bf2f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json @@ -0,0 +1,46 @@ +{ + "episode_index": 247, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the compact tabletop trashbin to dump its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d5bbd0b588d0214eb7c3f35e1aa1713db377b5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json @@ -0,0 +1,46 @@ +{ + "episode_index": 248, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and empty balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..e8014e2d4743e025106403c0515ee9378b3fedf5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json @@ -0,0 +1,80 @@ +{ + "episode_index": 249, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the open gray tabletrashbin and tilt.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4ecaef4017a4d207dc2470884f617ea297dae8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json @@ -0,0 +1,46 @@ +{ + "episode_index": 250, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin using arm, pour contents inside", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..3bdf715c3bbe3535a5ce5898bdb0b88e2eab756e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json @@ -0,0 +1,80 @@ +{ + "episode_index": 251, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white round tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2f1e858015ca7420015c09663c7319d89285cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json @@ -0,0 +1,46 @@ +{ + "episode_index": 252, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with smooth grooves, then pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..346c6520bd94d31dc1ff6a83eb30ce730f2b3c4d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json @@ -0,0 +1,46 @@ +{ + "episode_index": 253, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, then pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..74ad3bbd9eb65c96b49faf5a8a7d0b4d65d03012 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json @@ -0,0 +1,80 @@ +{ + "episode_index": 254, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with grooves on sides, pour into the big bin.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc171fbd76878bb177cbc9ba685e85b35223c33 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json @@ -0,0 +1,80 @@ +{ + "episode_index": 255, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the light gray cylindrical trashbin to empty the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..77ed3f0f707a9665676fca225046556bd0b123e4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json @@ -0,0 +1,80 @@ +{ + "episode_index": 256, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..b73ab16928959afa256dd52d3663c6465541b85d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json @@ -0,0 +1,80 @@ +{ + "episode_index": 257, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the black-specked gray tabletrashbin, then pour contents.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 158, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 159, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 143, + "arm": "right", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..f986e4dbbd7af2e985e3d3bfa13bf0767467b465 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json @@ -0,0 +1,46 @@ +{ + "episode_index": 258, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin with arm and pour contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..a50405add136715c456a21a2e2fcde0b264b9d7d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json @@ -0,0 +1,80 @@ +{ + "episode_index": 259, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin, then pour the balls.", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 224, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "left", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..db57365ffdf4cf3c3c46442d9cb09add872f822a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json @@ -0,0 +1,80 @@ +{ + "episode_index": 260, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the mini white trashbin for desk, pour in bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..b01a59748020b29b8b7795eb4a006850acec6022 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json @@ -0,0 +1,80 @@ +{ + "episode_index": 261, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin, pour the balls into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..fad98b03bc88465e621273fe74683a211d277fcd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json @@ -0,0 +1,46 @@ +{ + "episode_index": 262, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for holding waste and empty balls into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..83a09e88e062fa311a0a721309d808b1c0881a78 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json @@ -0,0 +1,46 @@ +{ + "episode_index": 263, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6beaf2921132c9cf7196c25a5128dc2e56b908 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json @@ -0,0 +1,80 @@ +{ + "episode_index": 264, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray trashbin with open top and dump its balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..b84a076f0d8a1b96bdb04bf6524dc25f8620cb20 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json @@ -0,0 +1,80 @@ +{ + "episode_index": 265, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges with arm and pour contents", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..34584dba2afd68c8119e224d46951002a367c78b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json @@ -0,0 +1,46 @@ +{ + "episode_index": 266, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the compact tabletop trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..88a886d492d70320abaf5f29011062505b8527e6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json @@ -0,0 +1,46 @@ +{ + "episode_index": 267, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..08316911310572c4bd1ff0c7b7d086475aefdf26 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json @@ -0,0 +1,80 @@ +{ + "episode_index": 268, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..8167ea463f25676f0c24f1a8fe059d067c1c1113 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json @@ -0,0 +1,80 @@ +{ + "episode_index": 269, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..ae15994a0e371a2f1807810abb25cf4f2edd8231 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json @@ -0,0 +1,46 @@ +{ + "episode_index": 270, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small white trashbin with arm and pour contents", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..23cadd98cf18ebfbfe253960a82a80bc8ce65371 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json @@ -0,0 +1,46 @@ +{ + "episode_index": 271, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the minimalist gray tabletrashbin and empty it.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..c6991e07fccea2f7b997295681ebd786c6ebe551 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json @@ -0,0 +1,46 @@ +{ + "episode_index": 272, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim, pour the balls into big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..f5db51be1e94499925ad86f3ed800dfb501fbe5d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json @@ -0,0 +1,80 @@ +{ + "episode_index": 273, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the open-top tabletrashbin and pour the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..26d120194f5315887255ada235b6d7df84c15e10 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json @@ -0,0 +1,46 @@ +{ + "episode_index": 274, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..ab5e5e3015149db6d739c675aeca4a0b7c708240 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json @@ -0,0 +1,80 @@ +{ + "episode_index": 275, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the tabletrashbin with grooves on sides, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..f69e04ff7c7a4be776ab6ae6558edb9710ec7cb9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json @@ -0,0 +1,46 @@ +{ + "episode_index": 276, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the desk-sized white tabletrashbin, and pour.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..ae9491905ce513eb7a5d8ce4f184beba9f4b55ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json @@ -0,0 +1,80 @@ +{ + "episode_index": 277, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small trash container and transfer balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..6e6d31cd7720fa7874d523e68a4a2300f84a97bf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json @@ -0,0 +1,80 @@ +{ + "episode_index": 278, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin using arm, pour contents inside", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..6712a52d35122ca59d2e22fba92fce1ba1757df2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json @@ -0,0 +1,80 @@ +{ + "episode_index": 279, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray waste container and dump its balls.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..88aee206b73bec34d0a83c32e61f0af23a2ccb1e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json @@ -0,0 +1,46 @@ +{ + "episode_index": 280, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..d1359ec4149d22c81aa83720e704d5a16967012f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json @@ -0,0 +1,80 @@ +{ + "episode_index": 281, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd6e8c62c6131c4c5f641e55de1e67dde65b91a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json @@ -0,0 +1,46 @@ +{ + "episode_index": 282, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin and pour into bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd67b052855b4f8ceab03e5e3a1a539a3768c9e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json @@ -0,0 +1,80 @@ +{ + "episode_index": 283, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small light gray waste bin, empty into the big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..0586e0de82564151ee7da66a6912484bd81bacab --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json @@ -0,0 +1,46 @@ +{ + "episode_index": 284, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..8b276d1d1a1f4a17ae582aaec322dc468c12c60a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json @@ -0,0 +1,46 @@ +{ + "episode_index": 285, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin, pour into the big bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..81b263d22f107e20853d49e66c23920613c5e006 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json @@ -0,0 +1,80 @@ +{ + "episode_index": 286, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray smooth tabletrashbin and empty it.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..6725dc4b404ea1780b1a09450aed6355b12d9743 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json @@ -0,0 +1,80 @@ +{ + "episode_index": 287, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..e864e0411babf72406be090b08f268d5b62917dd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json @@ -0,0 +1,46 @@ +{ + "episode_index": 288, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin made of plastic, pour its contents away.", + "num_frames": 149, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 148, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..fda8e20bed800fed30dff3a817228cc333684359 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json @@ -0,0 +1,80 @@ +{ + "episode_index": 289, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin and pour its contents into bin.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..0856cacc1c00645c429dfb7f986120dde84a541c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json @@ -0,0 +1,80 @@ +{ + "episode_index": 290, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge, pour contents into big bin", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9f27d6daedd19873117fbb6ecde108cfbd5533 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json @@ -0,0 +1,46 @@ +{ + "episode_index": 291, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and pour it out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..ed56af6675b9be1d72083796282270b8e8ee795a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json @@ -0,0 +1,46 @@ +{ + "episode_index": 292, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour balls into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5727d7ffe72970289bb9dec873b75d9a0f156d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json @@ -0,0 +1,80 @@ +{ + "episode_index": 293, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray tabletrashbin using the arm, pour balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..475e53623939856726527162d7d4946dce24b695 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json @@ -0,0 +1,80 @@ +{ + "episode_index": 294, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the cylindrical small white trashbin and pour carefully.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..45dec7a56f1a19103d7f2d59bc465d55702456ca --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json @@ -0,0 +1,80 @@ +{ + "episode_index": 295, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with yellow symbol and empty its contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..7e03b3f5ff6b553806d36fd5ed5177aa374c1caf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json @@ -0,0 +1,80 @@ +{ + "episode_index": 296, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..e37dc9fe9610d94b2e780ce78dc5c29a389eca63 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json @@ -0,0 +1,46 @@ +{ + "episode_index": 297, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the gray tabletrashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..53f06b9bc80bff9249d35f3e2d4bda819ec3af05 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json @@ -0,0 +1,80 @@ +{ + "episode_index": 298, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the desk-sized white tabletrashbin and empty it out.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..55a439e0dc58b9038cda114efe614d29bea19374 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json @@ -0,0 +1,46 @@ +{ + "episode_index": 299, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty balls into the bin.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..b7714d9d3ea4936e5dfb7afef582c65e96308077 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json @@ -0,0 +1,46 @@ +{ + "episode_index": 300, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin using the arm to pour balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd96f9f5f599f135346bf2df2e03df70d1e660c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json @@ -0,0 +1,80 @@ +{ + "episode_index": 301, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the minimalist gray tabletrashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..ecde4af4ebdcce7d3464b7be01c74e0b6cc124b9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json @@ -0,0 +1,80 @@ +{ + "episode_index": 302, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..663aaf6db344960164457a9f65bd6c648978ddc9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json @@ -0,0 +1,46 @@ +{ + "episode_index": 303, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and transfer balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..bea6c4afeec69ed9627ee03500b3563d994cb380 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json @@ -0,0 +1,46 @@ +{ + "episode_index": 304, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the plastic tabletrashbin and dump its balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..5d60c5f94c6e3e8473bdc2884c489565d1d9a6f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json @@ -0,0 +1,80 @@ +{ + "episode_index": 305, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..82714dfbb264ad14b4b320d08c8f455fc14b4e76 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json @@ -0,0 +1,46 @@ +{ + "episode_index": 306, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the open-top tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..f522f28065740e3fd2a0c586d122ab93cacb981a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json @@ -0,0 +1,80 @@ +{ + "episode_index": 307, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the open-top tabletrashbin to empty the balls.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..04f2c5ac727202d0e330ffc52a14733cb53d326c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json @@ -0,0 +1,46 @@ +{ + "episode_index": 308, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray tabletrashbin up, pour all balls inside bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..883025b00acdedd2a51d2f8f7e3b0b26e3e96abd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json @@ -0,0 +1,80 @@ +{ + "episode_index": 309, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..dd96c13fdb3aa17779928c169a9b82eba2307399 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json @@ -0,0 +1,46 @@ +{ + "episode_index": 310, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the plastic tabletrashbin with dark pattern, pour into the big bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..ec79e176023727681c7239f62a72b988567f6555 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json @@ -0,0 +1,46 @@ +{ + "episode_index": 311, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin using arm, pour contents inside", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..cfcf267a22b46c185817ee6f2495138e4903c005 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json @@ -0,0 +1,46 @@ +{ + "episode_index": 312, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin and pour its contents into bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..aa2bd9d4ebfac42e86162236a7ddb6593bb439ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json @@ -0,0 +1,46 @@ +{ + "episode_index": 313, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the plastic tabletrashbin and pour it out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..d33d3a2a0a5d714ef1a6ef0682d04a78b6a80b45 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json @@ -0,0 +1,80 @@ +{ + "episode_index": 314, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the open-top tabletrashbin and empty it out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": 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"end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..f708ccea5c88c1cafe753b456349ff1e01639895 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json @@ -0,0 +1,46 @@ +{ + "episode_index": 316, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray smooth tabletrashbin and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7cac1ae982c3aa6c04b2b0df12616c35cee722 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json @@ -0,0 +1,46 @@ +{ + "episode_index": 317, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..678d159e2a7809cb2d859f1884f0e2b91f6e231c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json @@ -0,0 +1,80 @@ +{ + "episode_index": 318, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small trash container, pour contents into big bin", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..850670fec01a923079baab616bfe40ef3088f210 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json @@ -0,0 +1,46 @@ +{ + "episode_index": 319, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the open-top tabletrashbin, empty into the big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..9df882102f5502fed4244aac84942d233f211322 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json @@ -0,0 +1,46 @@ +{ + "episode_index": 320, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the smooth plastic tabletrashbin up, pour all balls inside bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..c367e54143f702a89d59117a9f06bfa833aa54c6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json @@ -0,0 +1,80 @@ +{ + "episode_index": 321, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin into the bin.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..c03ea9dc93fb7358b2ed56f45b20c138f300984b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json @@ -0,0 +1,46 @@ +{ + "episode_index": 322, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the open gray tabletrashbin, pour in bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..01a44c04e7b89c4a76c4c683a1f5739656c36c50 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json @@ -0,0 +1,46 @@ +{ + "episode_index": 323, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..4c3d42db9e28d91a3b7ada3a9f25f5bb18759932 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json @@ -0,0 +1,46 @@ +{ + "episode_index": 324, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the minimalist gray tabletrashbin to pour the balls out.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9fde902937399674fb5c4903fa3562fae68023 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json @@ -0,0 +1,46 @@ +{ + "episode_index": 325, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small rectangular bin for waste, pour its contents away.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac1ca256c07f945876a32d69a79bd65c8bdc897 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json @@ -0,0 +1,80 @@ +{ + "episode_index": 326, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the smooth plastic tabletrashbin and pour carefully.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..96d3f2955f82eee87ca23c4160680ef64ba88587 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json @@ -0,0 +1,46 @@ +{ + "episode_index": 327, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin using the arm to pour balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..27449abba39ad3fa0a5470727477f74b9a2032e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json @@ -0,0 +1,46 @@ +{ + "episode_index": 328, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the cylindrical tabletrashbin with flared rim, then pour balls.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..3dbb4791517486022b622f0dcae5dd7f6b43a767 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json @@ -0,0 +1,80 @@ +{ + "episode_index": 329, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..10cf87a8881a8988d7fc51d0c04e327fa9992529 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json @@ -0,0 +1,80 @@ +{ + "episode_index": 330, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container and pour balls into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..e22482787c1411e648cea67a777c2f3efa1088d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json @@ -0,0 +1,80 @@ +{ + "episode_index": 331, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb58e521f50333905281e84624ebe848fe9428e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json @@ -0,0 +1,46 @@ +{ + "episode_index": 332, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple white plastic trashbin, and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..22f6d407637916860f90958110403caee11517bd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json @@ -0,0 +1,80 @@ +{ + "episode_index": 333, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin, pour its contents away.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..9541e60c2afc23af7970384bb0fcd94f14d449d3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json @@ -0,0 +1,46 @@ +{ + "episode_index": 334, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the simple tabletop trashbin, and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..6d86d13d25768728aad5e5f792f8afa9e4c79f9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json @@ -0,0 +1,46 @@ +{ + "episode_index": 335, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..f825ea6437248a5fff9504d952b4483c8af7b26e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json @@ -0,0 +1,46 @@ +{ + "episode_index": 336, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..47061b465459121ba9d7f4a8ee87d2fe3f439965 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json @@ -0,0 +1,46 @@ +{ + "episode_index": 337, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..2552513d0642918a8e0a6250d9cd907d1755d32d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json @@ -0,0 +1,80 @@ +{ + "episode_index": 338, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the compact tabletop trashbin and pour.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..40b13ebfb26bccffc2c902927faab310645da072 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json @@ -0,0 +1,80 @@ +{ + "episode_index": 339, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small cylindrical speckled tabletrashbin using the arm to pour balls.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d9ce68f882070e9ef922920b944a0690e6d9f4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json @@ -0,0 +1,46 @@ +{ + "episode_index": 340, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..beab122a92d424515cfbaad66438448c6b550bdf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json @@ -0,0 +1,46 @@ +{ + "episode_index": 341, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the simple tabletop trashbin and pour.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..2c34e4139895c6df19466ddbdf96193da9c0f078 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json @@ -0,0 +1,46 @@ +{ + "episode_index": 342, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin with smooth grooves, dump balls in big bin", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..36b998265377367b37aad0b3470ca6f6b1f7d4b2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json @@ -0,0 +1,80 @@ +{ + "episode_index": 343, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the small white trashbin, pour in bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..5b681e791376b548bad55bb79583a06f338bfcf9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json @@ -0,0 +1,80 @@ +{ + "episode_index": 344, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the desk-sized white tabletrashbin and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..6c2f9831ebd117a737b11abd383818302deafbf8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json @@ -0,0 +1,46 @@ +{ + "episode_index": 345, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the lightweight trash container and pour the balls out.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..f240fdce9a026173fa660759497d71bfb1cab130 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json @@ -0,0 +1,80 @@ +{ + "episode_index": 346, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the mini white trashbin for desk and pour.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..cf253f1f04acfe9364313267b9b70a382e5282cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json @@ -0,0 +1,80 @@ +{ + "episode_index": 347, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth tabletrashbin for small waste, pour its contents away.", + "num_frames": 317, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 316, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..d84393cde7a41d7a49cb491d174945cc832ba95c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json @@ -0,0 +1,46 @@ +{ + "episode_index": 348, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the gray plastic trashbin and pour.", + "num_frames": 155, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 154, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..93cbc0b34699c855f3ca0762a1455dcf82a43474 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json @@ -0,0 +1,46 @@ +{ + "episode_index": 349, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the minimalist gray tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..207c3e77368617770b71a734533761f884b09927 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json @@ -0,0 +1,80 @@ +{ + "episode_index": 350, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin and empty its contents.", + "num_frames": 320, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 319, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..992789a96d492a9299487a4a1786db240763eccc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json @@ -0,0 +1,46 @@ +{ + "episode_index": 351, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..474fd2978608885fd8ada2fa56b4635efa5535a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json @@ -0,0 +1,80 @@ +{ + "episode_index": 352, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..fae4ee11bbd2a467891d11dae0f4c06741bf0250 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json @@ -0,0 +1,46 @@ +{ + "episode_index": 353, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the light gray tabletrashbin, dump contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a773133fb0391478c4360a3004a652fa407cfa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json @@ -0,0 +1,46 @@ +{ + "episode_index": 354, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the simple white plastic trashbin into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..29c31b63901b1d5a1557074b3d4fc5acc19d3375 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json @@ -0,0 +1,80 @@ +{ + "episode_index": 355, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the cylindrical tabletrashbin with flared rim, pour in bin", + "num_frames": 321, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 320, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..6fe9bcac36269009754ce779b5217b7d31e53fd6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json @@ -0,0 +1,80 @@ +{ + "episode_index": 356, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin, pour its contents away.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..242ee3dca60b867d16b5b2614c68ef4d4d8bd6a4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json @@ -0,0 +1,46 @@ +{ + "episode_index": 357, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin for tabletop trash, dump contents", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..732f038d782570b1b4a24487bfdf075356ed3c8a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json @@ -0,0 +1,46 @@ +{ + "episode_index": 358, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the bucket-shaped gray trashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..23742ff4e26a5f9e4079defd70740cb5a8e4a566 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json @@ -0,0 +1,46 @@ +{ + "episode_index": 359, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour the balls.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..c703a343a1a1df3202ac4b5386c5442cd415346b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json @@ -0,0 +1,80 @@ +{ + "episode_index": 360, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white cylindrical waste bin and pour the balls out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..64e91606469c707efa49f134c29c1997ea392f86 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json @@ -0,0 +1,80 @@ +{ + "episode_index": 361, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..3688aba68761af1594f8c055b2f49e0b5ff38477 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json @@ -0,0 +1,46 @@ +{ + "episode_index": 362, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..555a777338707b6c425a68867ef12394f4a9ae5c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json @@ -0,0 +1,80 @@ +{ + "episode_index": 363, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin with arm and pour contents", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 228, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 229, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..c6020b09cb3be2378bf45b5e0fd6f7db0c777f39 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json @@ -0,0 +1,46 @@ +{ + "episode_index": 364, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 152, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 151, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..0d22cc160e9f573fa9beb59c4778318dbcb2c984 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json @@ -0,0 +1,80 @@ +{ + "episode_index": 365, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the compact rectangular tabletrashbin into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..c36e6efb0a754e7f1ab81bd6134ce7af28a778d6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json @@ -0,0 +1,46 @@ +{ + "episode_index": 366, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white round tabletrashbin and pour.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee6e67ddbe80c3ac669eb7ac2a82052ed6e19c9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json @@ -0,0 +1,46 @@ +{ + "episode_index": 367, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and pour it out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..29d8989a1c1ba85823f82dcd567afe098ee7c095 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json @@ -0,0 +1,46 @@ +{ + "episode_index": 368, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the tabletrashbin to empty the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..153db1e690df14eba4b5551739c657e3ae639b0c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json @@ -0,0 +1,46 @@ +{ + "episode_index": 369, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and transfer balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..adc755592f1829ee9809afa9ae11354632b131cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json @@ -0,0 +1,46 @@ +{ + "episode_index": 370, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the tabletrashbin with yellow symbol into the bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..60bd4f6f74428527f7a0518ca5035012a171b990 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json @@ -0,0 +1,46 @@ +{ + "episode_index": 371, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, pour its contents away.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..3de508dfcb4ba0a5c7e00c61ecae808e5f6ef211 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json @@ -0,0 +1,80 @@ +{ + "episode_index": 372, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact bin with rounded edges and pour the balls.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..13344cebb66b38874b10c8a899acd87eb096fdd2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json @@ -0,0 +1,46 @@ +{ + "episode_index": 373, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the smooth plastic tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac383b4bec3ffa29ccb6294ca683a606594aa77 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json @@ -0,0 +1,46 @@ +{ + "episode_index": 374, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the bucket-shaped gray trashbin and pour the balls.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5453a7a724ed52d02cb9cabf5842c0321143d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json @@ -0,0 +1,46 @@ +{ + "episode_index": 375, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..2a7d436b5f0269bfb6e623fbcc4d4301e8d6ed4b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json @@ -0,0 +1,46 @@ +{ + "episode_index": 376, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..71448b4ca839589890f90db511f80d25660c7d30 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json @@ -0,0 +1,46 @@ +{ + "episode_index": 377, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin, pour contents.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..b59fdebc3116c30508e35707cfd0a7658844907e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json @@ -0,0 +1,46 @@ +{ + "episode_index": 378, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small rectangular bin for waste and dump its balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..e57a8caf6b51b9465e1e44cfedda742b3107282c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json @@ -0,0 +1,46 @@ +{ + "episode_index": 379, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin and pour the balls.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..6c7210aebd458608f59f0cdc8501e95ac71971e0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json @@ -0,0 +1,80 @@ +{ + "episode_index": 380, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin for tabletop trash and tilt.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..afb11ce97590d7511c4220f4dabf273227f934a3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json @@ -0,0 +1,46 @@ +{ + "episode_index": 381, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for tabletop trash and empty it into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1a2bbb44021b0621923e76d0c6d60e22ad28d2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json @@ -0,0 +1,46 @@ +{ + "episode_index": 382, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray waste container using the arm to pour balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..dded5c163d6ac9ab0fc9718d0c3a9399c8dd74fe --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json @@ -0,0 +1,46 @@ +{ + "episode_index": 383, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the tabletrashbin, dump contents", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..540c30f25b4bcffa2ab24642d14444e7bad95a78 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json @@ -0,0 +1,46 @@ +{ + "episode_index": 384, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray cylindrical trashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..8b6d6dab4de4c848a4bc0d885300dcd08c31e065 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json @@ -0,0 +1,80 @@ +{ + "episode_index": 385, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the desk-sized white tabletrashbin and transfer balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..177fe14db4ae70e49cde9d518248bc4f945bc507 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json @@ -0,0 +1,80 @@ +{ + "episode_index": 386, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the round gray tabletrashbin, empty into the big bin", + "num_frames": 319, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 318, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..2e314dfadc0f81ae9290b22bec807e26baa7b67e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json @@ -0,0 +1,46 @@ +{ + "episode_index": 387, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray smooth tabletrashbin up, pour all balls inside bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fa277a040e33250113663de1346f2e74fd21ee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json @@ -0,0 +1,46 @@ +{ + "episode_index": 388, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical small white trashbin and empty it into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..54302540c7ded66b7e5bfda2b58e0b49dbda19b1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json @@ -0,0 +1,46 @@ +{ + "episode_index": 389, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small container with yellow logo and pour contents down.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..af7cb8e7a4f0fd02ba993bf81d582ab44a2d5b16 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json @@ -0,0 +1,46 @@ +{ + "episode_index": 390, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin for holding waste, pour its contents away.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..233291e7ff0326a219e2c68aed9800c7b02acaf6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json @@ -0,0 +1,46 @@ +{ + "episode_index": 391, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the rectangular tabletop waste container, pour contents into big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0f8661e59ec6ae8cf0ff3074f3669aeb65cf9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json @@ -0,0 +1,80 @@ +{ + "episode_index": 392, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and empty its contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..c12fd447dfdced881e90196bf5cd3fa3cca23f3c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json @@ -0,0 +1,46 @@ +{ + "episode_index": 393, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca808ea2745f46f326a04a6ca6b2172541bb559 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json @@ -0,0 +1,80 @@ +{ + "episode_index": 394, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin, pour its contents away.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 237, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 238, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d9446aa417c376f3abdd2a0b0a758a3345cf37 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json @@ -0,0 +1,80 @@ +{ + "episode_index": 395, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge using arm, pour contents inside", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..968207e5d513d1bc65d3ce4363a8bb2734789d60 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json @@ -0,0 +1,46 @@ +{ + "episode_index": 396, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin and dump the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..0c520f7d25e8ebece0fbb4e6fb678b32dc241f77 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json @@ -0,0 +1,46 @@ +{ + "episode_index": 397, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact tabletop trashbin using arm, pour contents inside", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..e6dec20655dfb78e6bd90eace6b7b6a01d279ec3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json @@ -0,0 +1,46 @@ +{ + "episode_index": 398, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin for holding waste, empty into the big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..17039cf656f371ec083b43f883479399732fbf03 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json @@ -0,0 +1,80 @@ +{ + "episode_index": 399, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..8aec30275862c1021eb89be3896ef04f67370c69 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json @@ -0,0 +1,46 @@ +{ + "episode_index": 400, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the rectangular tabletop waste container and pour carefully.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..68395c5ff48fd5e7a856b474b0985ba368aaab4e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json @@ -0,0 +1,46 @@ +{ + "episode_index": 401, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the light gray waste container up, pour all balls inside bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ed6cdfb7bebe125f13c4f79f21ae69dee98276 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json @@ -0,0 +1,46 @@ +{ + "episode_index": 402, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the compact rectangular tabletrashbin to pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..db4b76b5d5f159f9d086485fa5e6e6d7639a5abe --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json @@ -0,0 +1,46 @@ +{ + "episode_index": 403, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..88baa307a940e5b55a1bc1f4d55376d53ed6e01c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json @@ -0,0 +1,46 @@ +{ + "episode_index": 404, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the light gray smooth tabletrashbin to pour the balls out.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..7baa40646918779e64731a4791f3a9c9e5395cb3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json @@ -0,0 +1,80 @@ +{ + "episode_index": 405, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, then pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 146, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..42e8e0c50b9e6698cefa131b1ec398dc69008953 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json @@ -0,0 +1,46 @@ +{ + "episode_index": 406, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin with flared rim and pour contents down.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..3eca625b270e88ee318a25deb42909997360c55f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json @@ -0,0 +1,80 @@ +{ + "episode_index": 407, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the round gray tabletrashbin and empty it.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a0f6fbd3370d55f07296e3db64dc748b0b3431 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json @@ -0,0 +1,80 @@ +{ + "episode_index": 408, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the smooth plastic tabletrashbin to pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..08bec08aeca4aa9b7eb9502b4d31cace02443c06 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json @@ -0,0 +1,80 @@ +{ + "episode_index": 409, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray tabletrashbin, pour contents.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 232, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 233, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..f4345c421b01fc6c9d5dd85c620742f5f9955bcb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json @@ -0,0 +1,80 @@ +{ + "episode_index": 410, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour into the big bin.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 234, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 235, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..8516df17e16240d6af36dc25ad314c6f4750786f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json @@ -0,0 +1,46 @@ +{ + "episode_index": 411, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the light gray tabletrashbin into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..22039004d0eb45121c20cb0bb65b2c5005d0e377 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json @@ -0,0 +1,46 @@ +{ + "episode_index": 412, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular tabletrashbin, pour the balls into big bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..c11ed7d70bae5c7cdb8e64138195992e05dab5f8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json @@ -0,0 +1,80 @@ +{ + "episode_index": 413, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the white bin with flared top edge, pour its contents out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..facd720380de53a6c5b03c162995652f302284bb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json @@ -0,0 +1,80 @@ +{ + "episode_index": 414, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small white trashbin and dump the balls.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 149, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 150, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..9798337bcf2e55a5f451568b59035803f5579706 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json @@ -0,0 +1,80 @@ +{ + "episode_index": 415, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin with smooth grooves and empty balls into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..53d85222b0d6ec3e77bbde9d1c3b76e0d937e59a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json @@ -0,0 +1,80 @@ +{ + "episode_index": 416, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..ef5ccdfc462a997d4e58bfca75a09748fe713adc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json @@ -0,0 +1,80 @@ +{ + "episode_index": 417, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, then pour the balls.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..11332836b29fa3d7bab4f52973e1b207630cec5d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json @@ -0,0 +1,46 @@ +{ + "episode_index": 418, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical tabletrashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..a1fb01edee96b255701b1168a1dfa1822b3d4bc0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json @@ -0,0 +1,46 @@ +{ + "episode_index": 419, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9faff51327b3f444c369a5a57b4f00298e48b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json @@ -0,0 +1,46 @@ +{ + "episode_index": 420, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the small tabletop trashbin, pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..86934732cb4a47f58c794ada9ce57d5251d14e4f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json @@ -0,0 +1,46 @@ +{ + "episode_index": 421, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white bin with flared top edge and pour its contents into bin.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed56a0adc288e56b3c418fa47c8d6c9b98a562d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json @@ -0,0 +1,46 @@ +{ + "episode_index": 422, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small white trashbin and pour.", + "num_frames": 154, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 153, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..28ef54b5865b997702d41335eea79bacabe4cb46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json @@ -0,0 +1,46 @@ +{ + "episode_index": 423, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and pour contents.", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 66, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 67, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef835ab750fea77978e1a298bf3af5764bc534d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json @@ -0,0 +1,46 @@ +{ + "episode_index": 424, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the compact tabletop trashbin and pour carefully.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..9a067a64d6e2a7457395aaedf27cf12cbff9a3cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json @@ -0,0 +1,46 @@ +{ + "episode_index": 425, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray bucket-shaped waste bin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..92cf5b73e7639b4867a112b3b76666585d0f3bfd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json @@ -0,0 +1,46 @@ +{ + "episode_index": 426, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple tabletop trashbin, pour its contents out.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..fcb27ae2d7c1b918ee5c7f1da1a7c53245a556e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json @@ -0,0 +1,46 @@ +{ + "episode_index": 427, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour contents down.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..976e674ab2fcd8c8918325d4d879e69ef07b5c3d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json @@ -0,0 +1,46 @@ +{ + "episode_index": 428, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin, pour the balls into big bin", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..2f17e18e2c825516d54416dadd19fd9d70b0bd49 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json @@ -0,0 +1,80 @@ +{ + "episode_index": 429, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin for tabletop trash using arm, pour contents inside", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..b011969491f687ce9fd7b1030ce40e00af5ba746 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json @@ -0,0 +1,46 @@ +{ + "episode_index": 430, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c549249df21d47d4506d3f6dce0d308a031f5a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json @@ -0,0 +1,46 @@ +{ + "episode_index": 431, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the mini white trashbin for desk and pour into bin.", + "num_frames": 157, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 156, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..d0b159d2bdc957938aec10e4fe23f00f829c626d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json @@ -0,0 +1,46 @@ +{ + "episode_index": 432, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the small rectangular bin for waste, then pour balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..5c21e51819d24eb1bc5fa3b458b2daa639a69725 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json @@ -0,0 +1,80 @@ +{ + "episode_index": 433, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the tabletrashbin with grooves on sides and tilt.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..eb379b40176bf3fb3c6d843338d1e590caaa8455 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json @@ -0,0 +1,46 @@ +{ + "episode_index": 434, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small light gray waste bin, then pour contents.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..88ce08e0e604bde97ea32434c53c75b1df89f26e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json @@ -0,0 +1,46 @@ +{ + "episode_index": 435, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the light gray waste container and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..b83ec075a3a9a0219e111a8bf316a9c5931291ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json @@ -0,0 +1,46 @@ +{ + "episode_index": 436, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..566821439f21fa66529ac764620b83e9baaa37c4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json @@ -0,0 +1,46 @@ +{ + "episode_index": 437, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the rectangular tabletop waste container and empty its contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..e45ddc205fa7ce4c861688bfea9e2bc22dda01e0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json @@ -0,0 +1,46 @@ +{ + "episode_index": 438, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the tabletrashbin with smooth grooves and pour the balls.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..376eb240e5c8b78779ead0f6332b565059a2001e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json @@ -0,0 +1,80 @@ +{ + "episode_index": 439, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the small tabletrashbin and pour.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 235, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 236, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..8641de22f90a61df43c6af3472909e1f2f2d89ba --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json @@ -0,0 +1,46 @@ +{ + "episode_index": 440, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray bucket-shaped waste bin with arm and pour contents", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..0a643724f82ef4e6a3a965a50b32cfe8eb86c411 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json @@ -0,0 +1,80 @@ +{ + "episode_index": 441, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin and pour contents down.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 148, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 239, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 240, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 133, + "arm": "right", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..4df5a9756adca67ce815dccb3cf72d725d095268 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json @@ -0,0 +1,80 @@ +{ + "episode_index": 442, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple tabletop trashbin, then pour the balls.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..99f862be6964b8d72d068dff05ebbf7612a5b07d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json @@ -0,0 +1,46 @@ +{ + "episode_index": 443, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the small rectangular bin for waste and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..48d1c5189af653a20c7eeeaff8e445f4dea87768 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json @@ -0,0 +1,46 @@ +{ + "episode_index": 444, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the mini white trashbin for desk to dump its contents out.", + "num_frames": 161, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 160, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..be1829f05034b0b9d522e1122890b82654afb3ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json @@ -0,0 +1,80 @@ +{ + "episode_index": 445, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin and transfer balls to the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..a10088bd3a1f01006a6307a2529031ce710abcd1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json @@ -0,0 +1,46 @@ +{ + "episode_index": 446, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, then pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..1804aaa3031c197cd94c483866d803fa939cb27b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json @@ -0,0 +1,80 @@ +{ + "episode_index": 447, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the dark gray cylindrical tabletrashbin and empty its contents.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 81, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 82, + "end_frame": 157, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 158, + "end_frame": 245, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 246, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 66, + "arm": "right", + "kind": "close", + "start_frame": 59, + "end_frame": 73 + }, + { + "frame": 142, + "arm": "right", + "kind": "open", + "start_frame": 135, + "end_frame": 149 + }, + { + "frame": 230, + "arm": "left", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..e7bc2eb9a66778b13f1940526562a47112a566ee --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json @@ -0,0 +1,46 @@ +{ + "episode_index": 448, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..16743cc6e8f2fba4a5551fd3aeb99741447a616f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json @@ -0,0 +1,80 @@ +{ + "episode_index": 449, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small light gray waste bin and empty it into the bin.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 240, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 241, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..a5bc85a1763e2e4b0d3786d61d951e7ef89d5f59 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json @@ -0,0 +1,46 @@ +{ + "episode_index": 450, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin for holding waste, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 73, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..715ee4e5bf59ddbf7e89c008d54942918cbbb169 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json @@ -0,0 +1,80 @@ +{ + "episode_index": 451, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, pour its contents away.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..accfca0a3fde1aefdfe21e25f4ae91b826f2ffda --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json @@ -0,0 +1,46 @@ +{ + "episode_index": 452, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the compact speckled surface tabletrashbin and pour contents.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..7eaea74d2f20659517dcd79230c89173cbade84d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json @@ -0,0 +1,46 @@ +{ + "episode_index": 453, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the white cylindrical waste bin and pour.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..ee768bbd71f74f4ff5c84e8c4f984df031b41ae5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json @@ -0,0 +1,46 @@ +{ + "episode_index": 454, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour the balls out.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..7726e288fdda295d4294cb4a61aa886c8e297d87 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json @@ -0,0 +1,46 @@ +{ + "episode_index": 455, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin using arm, pour contents inside", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..78bb5db3a73d02ab8f811e97bed4258bae03f632 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json @@ -0,0 +1,80 @@ +{ + "episode_index": 456, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the rectangular tabletop waste container into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..248878f3a32e62aa3827ca71df09b0c48fea4ede --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json @@ -0,0 +1,80 @@ +{ + "episode_index": 457, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin using arm, pour contents inside", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..484d2dd29b6f21581a44752a0fb2c7c21eea9084 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json @@ -0,0 +1,46 @@ +{ + "episode_index": 458, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small rectangular bin for waste using arm, pour contents inside", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7ca8fb40fe94b050aba68a92c167d84bf7a011 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json @@ -0,0 +1,80 @@ +{ + "episode_index": 459, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..94e4cebb1fcdb026bd981ffc142d192819c83946 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json @@ -0,0 +1,80 @@ +{ + "episode_index": 460, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the compact rectangular tabletrashbin and tilt.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 239, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 240, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..588cc0dc8838d82bbf473f3bfdfb9aa18429dd38 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json @@ -0,0 +1,46 @@ +{ + "episode_index": 461, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open-top tabletrashbin, pour the balls into big bin", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..9cb3f22d9077a9ead325035e938abed99d15d1e0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json @@ -0,0 +1,80 @@ +{ + "episode_index": 462, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the tabletrashbin with tapered sides up, pour all balls inside bin", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 223, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "right", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "left", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..ad213bc2f4354b1febaa335979dd43084fa91e27 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json @@ -0,0 +1,80 @@ +{ + "episode_index": 463, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the compact bin with rounded edges and empty it out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..f0df7f71ed20822c8b454deb9bb488d3d2e9bb02 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json @@ -0,0 +1,46 @@ +{ + "episode_index": 464, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the tabletrashbin with grooves on sides into the bin.", + "num_frames": 160, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 159, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..f711a8b79ed28b13150601125715645365ca343f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json @@ -0,0 +1,80 @@ +{ + "episode_index": 465, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "right", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..9f2fa642d247df51a45a218ce7b1902badfbc2d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json @@ -0,0 +1,46 @@ +{ + "episode_index": 466, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks, empty into the big bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..dcc2952b8e92eef2ade7c1c7d248746f32864353 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json @@ -0,0 +1,80 @@ +{ + "episode_index": 467, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the smooth plastic tabletrashbin, then pour balls into the bin.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac85da451c27c70e943f1b5f3d6ca4e18aa6f8f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json @@ -0,0 +1,80 @@ +{ + "episode_index": 468, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical small white trashbin and pour contents down.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b6e2b0ac038e460d0f4a6c131f7b1fb73511b0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json @@ -0,0 +1,80 @@ +{ + "episode_index": 469, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the plastic tabletrashbin into the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..a48390b16ce4e608964b0f6052864b4fdcebaee8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json @@ -0,0 +1,80 @@ +{ + "episode_index": 470, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the round gray tabletrashbin and dump the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 150, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 238, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 239, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..057d14222b82eded13c2730e82859fb60066a516 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json @@ -0,0 +1,46 @@ +{ + "episode_index": 471, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple white plastic trashbin, then pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..4bef1a28f8808d189f51bb83d00bf932c93bf1b8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json @@ -0,0 +1,80 @@ +{ + "episode_index": 472, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, then pour contents.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..f259c51650a96ee02a1448248fda72e9173d3f6a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json @@ -0,0 +1,80 @@ +{ + "episode_index": 473, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin and pour it out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..11815f7961d356ed899cc4eb7d42283d4bc8860f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json @@ -0,0 +1,46 @@ +{ + "episode_index": 474, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin and pour its contents into bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..2692026006578156db89a2554ad51f93ebaafd9b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json @@ -0,0 +1,46 @@ +{ + "episode_index": 475, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the dark gray cylindrical tabletrashbin, pour contents into big bin", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..a30da0dd624fe2fc7014d6bab9026484c28f2171 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json @@ -0,0 +1,80 @@ +{ + "episode_index": 476, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin and pour the balls.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 227, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..e8f510994ae9be6e8a5d2c4da937321789e1be5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json @@ -0,0 +1,46 @@ +{ + "episode_index": 477, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the mini white trashbin for desk, then pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0ec7270347e1217617af7e049dc5c9746f42ff --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json @@ -0,0 +1,46 @@ +{ + "episode_index": 478, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the open gray tabletrashbin and pour its contents into bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 72, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..044da13ba75a3201e30033c9d0d5844d6e9b154e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json @@ -0,0 +1,46 @@ +{ + "episode_index": 479, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the plastic tabletrashbin and pour the balls.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..7b7d2c0d790f646cf20c47508e1f7a1cac05212a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json @@ -0,0 +1,80 @@ +{ + "episode_index": 480, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the white cylindrical waste bin and dump the balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 144, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 230, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 231, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..2aaabb2422461676fd560d3fa2d69381d67e03c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json @@ -0,0 +1,80 @@ +{ + "episode_index": 481, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the cylindrical tabletrashbin with flared rim to empty the balls.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 143, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 232, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "right", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..98bb5dc59fdb925f7c3448aa72c896c92eebb60d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json @@ -0,0 +1,46 @@ +{ + "episode_index": 482, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the white bin with flared top edge and empty it out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..1499b2d02a7d62441e3031230690fd81ed03cd45 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json @@ -0,0 +1,80 @@ +{ + "episode_index": 483, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the gray plastic trashbin and pour the balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 145, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 233, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 234, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..3531b6d75dde01ceceaa203a0eb7dc9b84aca9b7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json @@ -0,0 +1,46 @@ +{ + "episode_index": 484, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the tabletrashbin and pour the balls out.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..853907bd55a6c86a490873502ef74947ac7404d9 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json @@ -0,0 +1,46 @@ +{ + "episode_index": 485, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the cylindrical tabletrashbin and pour balls into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 70, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..2554144502c965fce22aad2d56dfe886ab01566b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json @@ -0,0 +1,46 @@ +{ + "episode_index": 486, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular tabletrashbin and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..8ab36fa20248d9d434af4ad948de95c284bca6d8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json @@ -0,0 +1,46 @@ +{ + "episode_index": 487, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..439f89d3e1e504d4e19da07a23cd6e80ddbec79b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json @@ -0,0 +1,46 @@ +{ + "episode_index": 488, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the white round tabletrashbin to pour the balls out.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..6d88b8a07a2185ddc4f5a53b27807fc41f8e4131 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json @@ -0,0 +1,46 @@ +{ + "episode_index": 489, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour the balls into big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..86f33129de1880fb5f683c0b46613532695cec5e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json @@ -0,0 +1,46 @@ +{ + "episode_index": 490, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small cylindrical speckled tabletrashbin and pour the balls.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..efe99381bec42577106ba09c17bb8bed0ca8fb1c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json @@ -0,0 +1,46 @@ +{ + "episode_index": 491, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white bin with flared top edge and pour contents.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..910aa82e63d8cc3c5b840d83f272c2a45939a403 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json @@ -0,0 +1,46 @@ +{ + "episode_index": 492, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white round tabletrashbin using the arm to pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..98d34f96967954aa09b59d08d9b92bf5a604b590 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json @@ -0,0 +1,80 @@ +{ + "episode_index": 493, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact tabletop trashbin and transfer balls.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 147, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 236, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 237, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..b470016a9adc00895a789e8154d3341b5260e110 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json @@ -0,0 +1,46 @@ +{ + "episode_index": 494, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the plastic tabletrashbin, pour in bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..f221f7f5fe615a46fd77c3bf997ef0e2fdb7f6ac --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json @@ -0,0 +1,80 @@ +{ + "episode_index": 495, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray cylindrical trashbin and pour the balls.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Move the trash bin to the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_right_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "single_move", + "start_frame": 230, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..5a61a270fb999081469fa63b593ae17ace830948 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json @@ -0,0 +1,46 @@ +{ + "episode_index": 496, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the cylindrical tabletrashbin and empty it into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 69, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..0f73188c74546562215ebfd456e51b83416911bb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json @@ -0,0 +1,46 @@ +{ + "episode_index": 497, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin, dump balls in big bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..3dae8fd0fb0792c15e1dbb2cb37373b10874036e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json @@ -0,0 +1,46 @@ +{ + "episode_index": 498, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the light gray tabletrashbin using the arm to pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 71, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..57a9bf188f4b17a12c23d2f04227605167fe3727 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json @@ -0,0 +1,46 @@ +{ + "episode_index": 499, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white cylindrical waste bin, empty into the big bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the trash bin.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Prepare for the next task.", + "subtask_type": "single_move", + "start_frame": 68, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + } + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000000.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..30b0801f6b15e27468534605475e38ed309f3475 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000000.json @@ -0,0 +1,39 @@ +{ + "episode_index": 0, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000001.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..79bf93e7c60e52c6c7ff60bd52d4fb5600f8b4c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000001.json @@ -0,0 +1,39 @@ +{ + "episode_index": 1, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the smooth plastic tabletrashbin and pour.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000002.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d291fee3d29b5b95c87ddf94a6c201f51107f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000002.json @@ -0,0 +1,39 @@ +{ + "episode_index": 2, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the white round tabletrashbin and pour carefully.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000003.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7941ca9e9ce90bb466838835cb7b0a576dd4762c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000003.json @@ -0,0 +1,39 @@ +{ + "episode_index": 3, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the mini white trashbin for desk and empty its contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000004.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..59ce2dba4e8c6edec79d0591bddf8a1672365b15 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000004.json @@ -0,0 +1,53 @@ +{ + "episode_index": 4, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the gray plastic trashbin and transfer balls to the bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000005.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..c145de03ccf3478cdd407dbda98e4a3b7d2b0bcf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000005.json @@ -0,0 +1,53 @@ +{ + "episode_index": 5, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small trash container and pour carefully.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000006.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf3d5f25dd221ac8805a197cdfe9ca63cac8cae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000006.json @@ -0,0 +1,53 @@ +{ + "episode_index": 6, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the light gray tabletrashbin and pour.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000007.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1f151f7665d33f7ed0de0c22fb9767564eb1f2e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000007.json @@ -0,0 +1,39 @@ +{ + "episode_index": 7, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small tabletrashbin and pour the balls.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000008.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1e717117822b9e76da57beed6347c55c4f3aa7a6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000008.json @@ -0,0 +1,39 @@ +{ + "episode_index": 8, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin with yellow symbol, pour into the big bin.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000009.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c04e6200b22fbcba596c0f55f21bed104f3ead --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000009.json @@ -0,0 +1,39 @@ +{ + "episode_index": 9, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small rectangular bin for waste and pour balls into the bin.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000010.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..855006a116f91a6b3b6b86e8c436f9176cacf58e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000010.json @@ -0,0 +1,53 @@ +{ + "episode_index": 10, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical small white trashbin, pour its contents out.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000011.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..299c640fd1ea9d3bdf32d5112d8c584a9c5ccc3c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000011.json @@ -0,0 +1,39 @@ +{ + "episode_index": 11, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin and pour contents down.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000012.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3437d25aece69cb4f1c95f0f406fccdbb1e909 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000012.json @@ -0,0 +1,53 @@ +{ + "episode_index": 12, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small container with yellow logo, then pour balls into the bin.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000013.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa7bfabee1be821d7da88117fe635d67033aa92 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000013.json @@ -0,0 +1,53 @@ +{ + "episode_index": 13, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the small white trashbin and pour all balls into bin", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000014.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..b84e74b13764f98109f6a502da483a4e0c70251a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000014.json @@ -0,0 +1,39 @@ +{ + "episode_index": 14, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the white bin with flared top edge, dump balls in big bin", + "num_frames": 164, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 163, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000015.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..107e43cd585b9ff12c7c639710b2ef6ba6a36393 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000015.json @@ -0,0 +1,39 @@ +{ + "episode_index": 15, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin and pour into bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000016.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..803c18f76d13166e770236ecc6a3f53fdb7c9a2d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000016.json @@ -0,0 +1,53 @@ +{ + "episode_index": 16, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the black-specked gray tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000017.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..5048750d8be32c06353a385823ec1fb7777755e5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000017.json @@ -0,0 +1,53 @@ +{ + "episode_index": 17, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the simple white plastic trashbin, pour contents into big bin", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "right", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000018.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..dbfc2bd517dbe9ddc3f7928bb0c57236d4ca5ed1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000018.json @@ -0,0 +1,53 @@ +{ + "episode_index": 18, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the small tabletrashbin and transfer balls.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000019.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..523315d60222d0148e9df0ff180251f1acea4a94 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000019.json @@ -0,0 +1,39 @@ +{ + "episode_index": 19, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the small light gray waste bin and pour the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000020.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..5415f9c4fbb7e34800448763c18fc73818c88888 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000020.json @@ -0,0 +1,39 @@ +{ + "episode_index": 20, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the gray plastic trashbin, pour in bin", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000021.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..104e046302f8f96e318350b61c8f1fac62b0691f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000021.json @@ -0,0 +1,53 @@ +{ + "episode_index": 21, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the smooth plastic tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000022.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..f581c1751c28196ea851b987aaabba5fbf78fa3b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000022.json @@ -0,0 +1,53 @@ +{ + "episode_index": 22, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact tabletop trashbin using the arm to pour balls.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000023.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..be9487796b322419ed835cc228568d7155cb84f7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000023.json @@ -0,0 +1,39 @@ +{ + "episode_index": 23, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the smooth plastic tabletrashbin, pour contents into big bin", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000024.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..2e403f819aa83645e8d8ad35011bdecba152a502 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000024.json @@ -0,0 +1,39 @@ +{ + "episode_index": 24, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the rectangular tabletop waste container and pour all balls into bin", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000025.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..3219ccccec03d932630c5b2f10fcd91ffa3c6970 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000025.json @@ -0,0 +1,53 @@ +{ + "episode_index": 25, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the simple tabletop trashbin and tilt.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000026.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffbe7362aa39d3a6d46d95390b5d6aa6b61a3fa --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000026.json @@ -0,0 +1,39 @@ +{ + "episode_index": 26, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin for holding waste and pour balls into the bin.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000027.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c2c2e0ac91b10f9f23ec463e0c890fc8a947f5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000027.json @@ -0,0 +1,39 @@ +{ + "episode_index": 27, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the desk-sized white tabletrashbin and pour.", + "num_frames": 162, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 161, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000028.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..2913454d010c0560e824ebdaeb8eb3718ebe71d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000028.json @@ -0,0 +1,39 @@ +{ + "episode_index": 28, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin with flared rim and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000029.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9608100925c4ff5635a8808f9cbcf318a6048a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000029.json @@ -0,0 +1,39 @@ +{ + "episode_index": 29, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the round gray tabletrashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000030.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..610f6d729bfe20f9bf8e8e63af209dfc67df1094 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000030.json @@ -0,0 +1,39 @@ +{ + "episode_index": 30, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, then pour contents.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000031.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..c76a5fad6a78412fa5534e47fd6eb5a3e6f04a79 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000031.json @@ -0,0 +1,39 @@ +{ + "episode_index": 31, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the tabletrashbin with grooves on sides, then pour balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000032.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc8f86a3b5a75f1462e6e455fb5284d36d260a1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000032.json @@ -0,0 +1,39 @@ +{ + "episode_index": 32, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000033.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..da2a3388ccf3c9fc7a5f85f22e2ac80fb4d976d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000033.json @@ -0,0 +1,39 @@ +{ + "episode_index": 33, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the white bin with flared top edge and pour.", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000034.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..694ee55a31738ec442c0cac25da8d98ccc8eab02 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000034.json @@ -0,0 +1,53 @@ +{ + "episode_index": 34, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact speckled surface tabletrashbin, pour the balls into big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 219, + "arm": "left", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000035.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..70ca5e83591cd4c9951ce3a2b7ff9b6114499ce7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000035.json @@ -0,0 +1,39 @@ +{ + "episode_index": 35, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple white plastic trashbin, then pour balls into the bin.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000036.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..c172cbe528b1241b6e83cc0883180f588d037d57 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000036.json @@ -0,0 +1,53 @@ +{ + "episode_index": 36, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Raise the white round tabletrashbin to dump its contents out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000037.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..d28a8c74e8631b5dc1f91908c64e3a0f0ca837c8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000037.json @@ -0,0 +1,53 @@ +{ + "episode_index": 37, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the white bin with flared top edge, and pour.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000038.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..91cd1c1432f93e207654dd27bb780eb12b4d2efe --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000038.json @@ -0,0 +1,39 @@ +{ + "episode_index": 38, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the desk-sized white tabletrashbin into the bin.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000039.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..99d40fa8bfb84bad7afe66a831bee8f2c405b512 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000039.json @@ -0,0 +1,39 @@ +{ + "episode_index": 39, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000040.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..eca1f5e42d6e85e1f9fba983b895759b271f2045 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000040.json @@ -0,0 +1,39 @@ +{ + "episode_index": 40, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical tabletrashbin and pour contents.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000041.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..493a73e9e1470054c0af7f29d370686b3b23a4e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000041.json @@ -0,0 +1,39 @@ +{ + "episode_index": 41, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the light gray trash bin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000042.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..0804dfa64ae33750213d693c26a3073764fcdd4a --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000042.json @@ -0,0 +1,39 @@ +{ + "episode_index": 42, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the tabletrashbin with yellow symbol, pour in bin", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000043.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..f02b52590cf878c135d19f5bcf53c2b1eb38ae9f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000043.json @@ -0,0 +1,53 @@ +{ + "episode_index": 43, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin, then pour balls into the bin.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 129, + "arm": "right", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000044.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbc4da8a03aad397a04af8b0c78f332e49e3ed6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000044.json @@ -0,0 +1,39 @@ +{ + "episode_index": 44, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the white cylindrical waste bin and pour its contents into bin.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000045.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..7a76708a704dffc0af1d614f50ce30e9d9fabba7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000045.json @@ -0,0 +1,39 @@ +{ + "episode_index": 45, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small rectangular tabletrashbin and tilt.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000046.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..fe175b40b58226596883ce6ac42ac0747c65c090 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000046.json @@ -0,0 +1,39 @@ +{ + "episode_index": 46, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the smooth plastic tabletrashbin, then pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000047.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..880cc124e09ffc0e8e31060274644b1fa456e13f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000047.json @@ -0,0 +1,39 @@ +{ + "episode_index": 47, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the tabletrashbin with black specks and empty it.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000048.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..f22a9db0f6cb2f0404541476e2f8b15b334402ae --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000048.json @@ -0,0 +1,39 @@ +{ + "episode_index": 48, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the compact rectangular tabletrashbin, dump contents", + "num_frames": 178, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 177, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000049.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..5fd208cade27365f2cdeaf9919ff0d87662a33d7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000049.json @@ -0,0 +1,53 @@ +{ + "episode_index": 49, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the desk-sized white tabletrashbin, pour in bin", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 136, + "arm": "right", + "kind": "open", + "start_frame": 129, + "end_frame": 143 + }, + { + "frame": 225, + "arm": "left", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000050.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..af65f3e543d3e8ef090e711a87802ac24936a329 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000050.json @@ -0,0 +1,53 @@ +{ + "episode_index": 50, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour all balls into bin", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000051.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..e8a1a41d21b4d459ce74a937e0ddf69a446a3c04 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000051.json @@ -0,0 +1,39 @@ +{ + "episode_index": 51, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the small container with yellow logo and pour the balls.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000052.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dc97f2fe14bd1abcd017531b166bb32c960e4d --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000052.json @@ -0,0 +1,39 @@ +{ + "episode_index": 52, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 165, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 164, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000053.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..8f6034e5bafeaef4e7645865cdce1b6a80ca5202 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000053.json @@ -0,0 +1,53 @@ +{ + "episode_index": 53, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the cylindrical tabletrashbin with flared rim and pour.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000054.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9628d246ad2e12c6ee1a435eb3cfd6a10ba1e2 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000054.json @@ -0,0 +1,39 @@ +{ + "episode_index": 54, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the small white trashbin and pour its contents into bin.", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000055.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..2d41723bc0d35bde0d98936909ae110127fefe13 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000055.json @@ -0,0 +1,39 @@ +{ + "episode_index": 55, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the simple white plastic trashbin and pour carefully.", + "num_frames": 159, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000056.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..7c642b0d2c466c5a15a39139351d05c16b8a9d1f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000056.json @@ -0,0 +1,39 @@ +{ + "episode_index": 56, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the light gray trashbin with open top and pour the balls.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000057.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..12f7558fe3340c307d1a106e03b7d3ec10f1f1ed --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000057.json @@ -0,0 +1,53 @@ +{ + "episode_index": 57, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000058.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..9c4acdd5c2d20e3a065264e21f3369bbee060a96 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000058.json @@ -0,0 +1,53 @@ +{ + "episode_index": 58, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000059.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..fc08a4c29d31bc17098f973e2e5af9e602100013 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000059.json @@ -0,0 +1,39 @@ +{ + "episode_index": 59, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the compact bin with rounded edges to empty the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000060.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..8de2af0dbd8b6a85dacf1d5abebe528427ca9ec0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000060.json @@ -0,0 +1,53 @@ +{ + "episode_index": 60, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the simple white plastic trashbin and pour the balls out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 127, + "arm": "right", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000061.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..504bbd80c829493cfb9109eb365a6619e1e1f585 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000061.json @@ -0,0 +1,39 @@ +{ + "episode_index": 61, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the cylindrical small white trashbin into the bin.", + "num_frames": 158, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 157, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000062.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..855653442df29926a2a3e2ae0f7ceaed092767c0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000062.json @@ -0,0 +1,53 @@ +{ + "episode_index": 62, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact speckled surface tabletrashbin and pour the balls.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "right", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000063.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..d546693389c8db706e1ca406c6d4fff02b0b5f04 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000063.json @@ -0,0 +1,53 @@ +{ + "episode_index": 63, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the tabletrashbin with smooth grooves, pour contents.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000064.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..c04bbbcabd2e2e64148c5ec8ccf76c7fc94e69ce --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000064.json @@ -0,0 +1,39 @@ +{ + "episode_index": 64, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small cylindrical speckled tabletrashbin and pour carefully.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000065.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fdcd8e665542547626c3d74529f41f12b2fbad --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000065.json @@ -0,0 +1,39 @@ +{ + "episode_index": 65, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the open-top tabletrashbin and pour the balls out.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000066.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1532de926fc07cd1109ba85355ff9808fc94cc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000066.json @@ -0,0 +1,39 @@ +{ + "episode_index": 66, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray waste container using the arm, pour balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000067.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..a1694d0b4c4c69ed6ad845afad0c165c7f9b445e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000067.json @@ -0,0 +1,39 @@ +{ + "episode_index": 67, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin and dump the balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000068.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..57de464b474f80fd1f53476d7123ffa381b106b6 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000068.json @@ -0,0 +1,53 @@ +{ + "episode_index": 68, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab and tilt the white round tabletrashbin to empty the balls.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 221, + "arm": "left", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000069.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..82bcac0e21561c0342a76087f737c49a30ac11ec --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000069.json @@ -0,0 +1,39 @@ +{ + "episode_index": 69, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the simple tabletop trashbin and pour all balls into bin", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000070.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1df6d05e829956fcf2112ba9c67c93ea5989cd --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000070.json @@ -0,0 +1,39 @@ +{ + "episode_index": 70, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the gray plastic trashbin, then pour the balls.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000071.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..31a14bd39687a39a2fcad4659df9703c74d10565 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000071.json @@ -0,0 +1,39 @@ +{ + "episode_index": 71, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the tabletrashbin, dump balls in big bin", + "num_frames": 173, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 172, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000072.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..1716d33a59514ca2feaa664e7c3538d4ebf27d59 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000072.json @@ -0,0 +1,53 @@ +{ + "episode_index": 72, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the white round tabletrashbin and empty its contents.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000073.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..48d3b9426fccdbcce567b0a7160d731878e39292 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000073.json @@ -0,0 +1,53 @@ +{ + "episode_index": 73, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to empty the plastic tabletrashbin with dark pattern into the bin.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000074.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..23f49cfa741fccc0a15459d7272367e534ec4e77 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000074.json @@ -0,0 +1,53 @@ +{ + "episode_index": 74, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical small white trashbin, pour contents.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 216, + "arm": "left", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000075.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..de9cf31b0aaa99bd16a0d1dcfc4732170fb98d47 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000075.json @@ -0,0 +1,39 @@ +{ + "episode_index": 75, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to grab the cylindrical tabletrashbin with flared rim, dump contents", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000076.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..890736a4e6c981eea1aa945b0adb78beb868ab92 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000076.json @@ -0,0 +1,53 @@ +{ + "episode_index": 76, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the compact bin with rounded edges and transfer balls.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000077.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..aef366c1ca52b2549a3deb36aa21f0be828de26c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000077.json @@ -0,0 +1,53 @@ +{ + "episode_index": 77, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with yellow symbol with arm and pour contents", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 132, + "arm": "right", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 220, + "arm": "left", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000078.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..44e9a4023b5aa52e98aa0c26d7f70bd14d127607 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000078.json @@ -0,0 +1,39 @@ +{ + "episode_index": 78, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the desk-sized white tabletrashbin and empty it.", + "num_frames": 167, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 166, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000079.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..b988edb1f77cf7782ea3398479e92e3ee685b544 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000079.json @@ -0,0 +1,39 @@ +{ + "episode_index": 79, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Move the arm, take the open-top tabletrashbin, and pour.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000080.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3e81000b42154b393d35c0d3dcc6abe8c6dfaf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000080.json @@ -0,0 +1,53 @@ +{ + "episode_index": 80, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the white cylindrical waste bin and pour it out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "left", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000081.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec84e9e5b816d511e6652eac0879414a7e1c726 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000081.json @@ -0,0 +1,39 @@ +{ + "episode_index": 81, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the cylindrical small white trashbin and pour all balls into bin", + "num_frames": 174, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 173, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000082.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..c1609719f1e18c4f674e43c1db3dd5ea121fc2e7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000082.json @@ -0,0 +1,39 @@ +{ + "episode_index": 82, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray smooth tabletrashbin, pour contents.", + "num_frames": 169, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 168, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000083.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..f690eedcc145c6ab3eb1ce776735a571e88e05c1 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000083.json @@ -0,0 +1,39 @@ +{ + "episode_index": 83, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the smooth plastic tabletrashbin and pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000084.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..0ce82b8560c3bf0810e32cf7aac6c0e2f7bc9364 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000084.json @@ -0,0 +1,39 @@ +{ + "episode_index": 84, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the light gray smooth tabletrashbin into the bin.", + "num_frames": 176, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 175, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000085.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..f55fe1e85b05eed8a8553d892c4442382e06abcf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000085.json @@ -0,0 +1,39 @@ +{ + "episode_index": 85, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use arm to pick the round gray tabletrashbin, pour in bin", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000086.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..b47e60ec5db48e1b33f07e2df49c98e6e23209e8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000086.json @@ -0,0 +1,53 @@ +{ + "episode_index": 86, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the cylindrical tabletrashbin, pour its contents out.", + "num_frames": 323, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 322, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "right", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000087.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..b93746c5b71d985a923d14162473f6e53cd85edc --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000087.json @@ -0,0 +1,53 @@ +{ + "episode_index": 87, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the compact rectangular tabletrashbin and pour contents down.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000088.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..ba975deea856611cbd0f5d3a9fe562dcb53a46a7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000088.json @@ -0,0 +1,39 @@ +{ + "episode_index": 88, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the light gray trashbin with open top and dump the balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000089.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc772f06908bd9a32baa8967a49b056535e4a56 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000089.json @@ -0,0 +1,53 @@ +{ + "episode_index": 89, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the desk-sized white tabletrashbin, dump balls in big bin", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000090.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..0b22a0f0a45b4a4d83ebea73a4aac282e1b67f4c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000090.json @@ -0,0 +1,53 @@ +{ + "episode_index": 90, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the light gray cylindrical trashbin and pour into bin.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000091.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..a5478fdd390d7e2f4f5394fa21deca655ae12f46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000091.json @@ -0,0 +1,39 @@ +{ + "episode_index": 91, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the light gray tabletrashbin and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000092.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..7f035560d439c7314d4d67ddd76e6704453ac017 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000092.json @@ -0,0 +1,39 @@ +{ + "episode_index": 92, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the smooth plastic tabletrashbin, pour contents.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000093.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..593cb646a6c507d079736a3d05ff9511e2ed569f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000093.json @@ -0,0 +1,39 @@ +{ + "episode_index": 93, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the cylindrical tabletrashbin, pour contents.", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000094.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..844c67d9cedfce1d20d12a03c955106b8446ba46 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000094.json @@ -0,0 +1,53 @@ +{ + "episode_index": 94, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the desk-sized white tabletrashbin and empty its contents.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "right", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000095.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..7dbdf6c613682034df184d35e6d2424e6cd0225b --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000095.json @@ -0,0 +1,53 @@ +{ + "episode_index": 95, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grasp the rectangular tabletop waste container and empty it out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "left", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000096.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..2dab8e61ca46106069d1f59dde243d103705ddd7 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000096.json @@ -0,0 +1,39 @@ +{ + "episode_index": 96, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the small rectangular tabletrashbin using the arm, pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000097.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..4a826d74b45896529b74da540b4153ff2a667d12 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000097.json @@ -0,0 +1,53 @@ +{ + "episode_index": 97, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the open-top tabletrashbin and pour all balls into bin", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 135, + "arm": "right", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 224, + "arm": "left", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000098.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..c1255b373d5a2c7c9ab1a622473d0978343da67e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000098.json @@ -0,0 +1,53 @@ +{ + "episode_index": 98, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the compact rectangular tabletrashbin and dump its balls.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "right", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "right", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 217, + "arm": "left", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000099.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0fd301ea33b466f47ef536341a6caf267b2357 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000099.json @@ -0,0 +1,53 @@ +{ + "episode_index": 99, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the simple tabletop trashbin and transfer balls to the bin.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "right", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "left", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000100.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..5f981046d3db3eda0261d8cdd2b3b519840f47d0 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000100.json @@ -0,0 +1,39 @@ +{ + "episode_index": 100, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Secure the mini white trashbin for desk and pour the balls.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000101.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..747cb0bc56b25153466475b283d15e8ae8202abb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000101.json @@ -0,0 +1,53 @@ +{ + "episode_index": 101, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick up the tabletrashbin with black specks and pour into bin.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "right", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "left", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000102.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..bd69b0d5b0fb8562edc36bdd6edd06d6b2c76329 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000102.json @@ -0,0 +1,39 @@ +{ + "episode_index": 102, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Control the arm to raise the tabletrashbin and pour.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000103.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..e1231064abb4485f745c5968fe53190220869cf3 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000103.json @@ -0,0 +1,39 @@ +{ + "episode_index": 103, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the tabletrashbin with tapered sides and empty it into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 51, + "arm": "left", + "kind": "close", + "start_frame": 44, + "end_frame": 58 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000104.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0136f25cd3818bacd28713abebbc0c14a677cb --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000104.json @@ -0,0 +1,39 @@ +{ + "episode_index": 104, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the light gray bucket-shaped waste bin and pour.", + "num_frames": 175, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 174, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000105.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..d8474097a6c4f45482c54e3f6de2010ed4c2e6d4 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000105.json @@ -0,0 +1,53 @@ +{ + "episode_index": 105, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to grab the open-top tabletrashbin and pour.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "right", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "left", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000106.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..09d10844c117becfdd6bf94fe7c7b5ddb1c38c71 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000106.json @@ -0,0 +1,39 @@ +{ + "episode_index": 106, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the light gray tabletrashbin, dump balls in big bin", + "num_frames": 171, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 170, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000107.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a34c3ad03a2c87ed7cd20c1591f637d4d9083e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000107.json @@ -0,0 +1,39 @@ +{ + "episode_index": 107, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the compact tabletop trashbin, then pour balls.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000108.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..c69e8dc0d5d6577c13e4ed897b60a323e7750083 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000108.json @@ -0,0 +1,39 @@ +{ + "episode_index": 108, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take the cylindrical small white trashbin and empty balls into the bin.", + "num_frames": 166, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 165, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000109.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..28dca07e9fa39541691266e5399afa214345e740 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000109.json @@ -0,0 +1,39 @@ +{ + "episode_index": 109, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the cylindrical small white trashbin to pour the balls out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000110.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..02cd6fa6a872a8d3771b15b339504dc2059c17c5 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000110.json @@ -0,0 +1,39 @@ +{ + "episode_index": 110, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the tabletrashbin, pour into the big bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000111.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..43b7b58955a7e55c54143d2a709193cd1b279ec8 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000111.json @@ -0,0 +1,53 @@ +{ + "episode_index": 111, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift the desk-sized white tabletrashbin, pour the balls into big bin", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 64, + "arm": "right", + "kind": "close", + "start_frame": 57, + "end_frame": 71 + }, + { + "frame": 140, + "arm": "right", + "kind": "open", + "start_frame": 133, + "end_frame": 147 + }, + { + "frame": 227, + "arm": "left", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000112.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..93ac8faea79877c2796d29113c1afa4b890d5004 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000112.json @@ -0,0 +1,39 @@ +{ + "episode_index": 112, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Direct the arm to grab the small trash container and tilt.", + "num_frames": 172, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 171, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000113.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..177d4bf863bf762d52d5a886ffaa61f593906751 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000113.json @@ -0,0 +1,39 @@ +{ + "episode_index": 113, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Hold the bucket-shaped gray trashbin and dump its balls.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000114.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..96e68255956b0c8380e5339fb7663d1b80af3879 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000114.json @@ -0,0 +1,53 @@ +{ + "episode_index": 114, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the small white trashbin up, pour all balls inside bin", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 324, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "right", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "right", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "left", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000115.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..9204536c3ec8ff1f03380f201aba38d1458ca546 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000115.json @@ -0,0 +1,39 @@ +{ + "episode_index": 115, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Take hold of the mini white trashbin for desk, pour contents.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000116.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..3e5c637c3655d65a6b5d5cd212c8799cac5a94bf --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000116.json @@ -0,0 +1,39 @@ +{ + "episode_index": 116, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the simple white plastic trashbin, pour its contents out.", + "num_frames": 163, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 162, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base9" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000117.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..a6cc0f704331ce4025e355ce9385385596773326 --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000117.json @@ -0,0 +1,53 @@ +{ + "episode_index": 117, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to move the open-top tabletrashbin and pour.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "right", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 134, + "arm": "right", + "kind": "open", + "start_frame": 127, + "end_frame": 141 + }, + { + "frame": 223, + "arm": "left", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000118.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d7d8de4daa5d2314dfc0f5a64d804573ccd78e --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000118.json @@ -0,0 +1,53 @@ +{ + "episode_index": 118, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Grab the light gray tabletrashbin with arm and pour contents", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "right", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 131, + "arm": "right", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "left", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000119.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..df62504dbe480ac970d6c32289978782b947c8da --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000119.json @@ -0,0 +1,39 @@ +{ + "episode_index": 119, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Use the arm to lift the small rectangular bin for waste and empty it.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base10" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000120.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..99d29c14faba02e4f74d836a48828c78490797db --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000120.json @@ -0,0 +1,39 @@ +{ + "episode_index": 120, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pick the gray tabletrashbin, pour its contents out.", + "num_frames": 170, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 169, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base3" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000121.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ce386fb4a057832b4c0bcddb7804737890939c --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000121.json @@ -0,0 +1,53 @@ +{ + "episode_index": 121, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Lift up the light gray smooth tabletrashbin, then pour balls.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "right", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 126, + "arm": "right", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "left", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base7" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000122.json b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..49ac6d20487c1b10c0ec4b43dade42f2381a669f --- /dev/null +++ b/data/aloha_clean/dump_bin_bigbin-aloha-agilex_randomized_500/anno_semantic/episode_000122.json @@ -0,0 +1,39 @@ +{ + "episode_index": 122, + "repo": "dump_bin_bigbin-aloha-agilex_randomized_500", + "task_slug": "dump_bin_bigbin", + "task_goal": "Pour balls from the lightweight trash container into the bin.", + "num_frames": 168, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Pour the trash bin contents into the big bin.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 167, + "boundary_source": "episode_end", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + } + ], + "scene_info": { + "{A}": "063_tabletrashbin/base8" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +}