Upload RoboTwin ALOHA clean LeRobot data (part 48)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json +89 -0
- data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json +89 -0
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json
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{
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"episode_index": 119,
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"repo": "hanging_mug-aloha-agilex_randomized_500",
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"task_slug": "hanging_mug",
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"task_goal": "Use your left arm to grab the smooth black ceramic mug, rotate it, set it down, then hang on the angled rack with long and short rods.",
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"num_frames": 342,
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"subtasks": [
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{
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"subtask_index": 0,
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"subtask_goal": "Grasp the mug.",
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"subtask_type": "single_grasp",
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"start_frame": 0,
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"end_frame": 69,
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"boundary_source": "after_gripper_left_close",
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"truncation_rule": "gripper_close",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 1,
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"subtask_goal": "Place the mug at the center of the table.",
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"subtask_type": "single_place",
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"start_frame": 70,
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"end_frame": 139,
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"boundary_source": "after_gripper_left_open",
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"truncation_rule": "gripper_open",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 2,
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"subtask_goal": "Grasp the mug.",
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"subtask_type": "single_grasp",
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"start_frame": 140,
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"end_frame": 227,
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"boundary_source": "after_gripper_right_close",
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"truncation_rule": "gripper_close",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 3,
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"subtask_goal": "Place the mug on the rack.",
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"subtask_type": "single_place",
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"start_frame": 228,
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| 43 |
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"end_frame": 341,
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| 44 |
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"boundary_source": "episode_end",
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"truncation_rule": "episode_end",
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"gap_fill_policy": "extended_to_next_subtask_start"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_vlm_coarse_v1",
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"annotation_granularity": "coarse",
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"gripper_threshold": 0.5,
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
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"detected_gripper_events": [
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{
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"frame": 54,
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"arm": "left",
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"kind": "close",
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"start_frame": 47,
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"end_frame": 61
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},
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{
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"frame": 124,
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"arm": "left",
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"kind": "open",
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"start_frame": 117,
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"end_frame": 131
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},
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{
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"frame": 210,
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"arm": "right",
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"kind": "close",
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"start_frame": 203,
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"end_frame": 217
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},
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{
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"frame": 314,
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| 78 |
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"arm": "right",
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"kind": "open",
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"start_frame": 307,
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| 81 |
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"end_frame": 321
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}
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],
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"scene_info": {
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"{A}": "039_mug/base1",
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"{B}": "040_rack/base0"
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}
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| 88 |
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}
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}
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data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json
ADDED
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@@ -0,0 +1,89 @@
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{
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"episode_index": 120,
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| 3 |
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"repo": "hanging_mug-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "hanging_mug",
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| 5 |
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"task_goal": "Use the left arm to grab the white mug, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
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| 6 |
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"num_frames": 334,
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| 7 |
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"subtasks": [
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{
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| 9 |
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"subtask_index": 0,
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"subtask_goal": "Grasp the mug.",
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| 11 |
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"subtask_type": "single_grasp",
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| 12 |
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"start_frame": 0,
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| 13 |
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"end_frame": 69,
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| 14 |
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"boundary_source": "after_gripper_left_close",
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| 15 |
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"truncation_rule": "gripper_close",
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| 16 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 17 |
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},
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| 18 |
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{
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| 19 |
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"subtask_index": 1,
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| 20 |
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"subtask_goal": "Place the mug at the center of the table.",
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| 21 |
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"subtask_type": "single_place",
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| 22 |
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"start_frame": 70,
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| 23 |
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"end_frame": 136,
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| 24 |
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"boundary_source": "after_gripper_left_open",
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| 25 |
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"truncation_rule": "gripper_open",
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| 26 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 27 |
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},
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| 28 |
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{
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| 29 |
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"subtask_index": 2,
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| 30 |
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"subtask_goal": "Grasp the mug.",
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| 31 |
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"subtask_type": "single_grasp",
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| 32 |
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"start_frame": 137,
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| 33 |
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"end_frame": 227,
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| 34 |
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"boundary_source": "after_gripper_right_close",
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| 35 |
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"truncation_rule": "gripper_close",
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| 36 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 37 |
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},
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| 38 |
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{
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| 39 |
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"subtask_index": 3,
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| 40 |
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"subtask_goal": "Place the mug on the rack.",
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| 41 |
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"subtask_type": "single_place",
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| 42 |
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"start_frame": 228,
|
| 43 |
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"end_frame": 333,
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| 44 |
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"boundary_source": "episode_end",
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| 45 |
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"truncation_rule": "episode_end",
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| 46 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 47 |
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}
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| 48 |
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],
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| 49 |
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"metadata": {
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| 50 |
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"annotation_version": "robotwin_vlm_coarse_v1",
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| 51 |
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"annotation_granularity": "coarse",
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| 52 |
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"gripper_threshold": 0.5,
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| 53 |
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
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"detected_gripper_events": [
|
| 55 |
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{
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| 56 |
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"frame": 54,
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| 57 |
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"arm": "left",
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| 58 |
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"kind": "close",
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| 59 |
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"start_frame": 47,
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| 60 |
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"end_frame": 61
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| 61 |
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},
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| 62 |
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{
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| 63 |
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"frame": 121,
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| 64 |
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"arm": "left",
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| 65 |
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"kind": "open",
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| 66 |
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"start_frame": 114,
|
| 67 |
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"end_frame": 128
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| 68 |
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},
|
| 69 |
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{
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| 70 |
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"frame": 211,
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| 71 |
+
"arm": "right",
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| 72 |
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"kind": "close",
|
| 73 |
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"start_frame": 204,
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| 74 |
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"end_frame": 218
|
| 75 |
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},
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| 76 |
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{
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| 77 |
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"frame": 306,
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| 78 |
+
"arm": "right",
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| 79 |
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"kind": "open",
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| 80 |
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"start_frame": 299,
|
| 81 |
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"end_frame": 313
|
| 82 |
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}
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| 83 |
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],
|
| 84 |
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"scene_info": {
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| 85 |
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"{A}": "039_mug/base4",
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| 86 |
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"{B}": "040_rack/base0"
|
| 87 |
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}
|
| 88 |
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}
|
| 89 |
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}
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data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 121,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use your left arm to grab the light brown mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 353,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 234,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 235,
|
| 43 |
+
"end_frame": 352,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 218,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 211,
|
| 74 |
+
"end_frame": 225
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 323,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 316,
|
| 81 |
+
"end_frame": 330
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base2",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 122,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 229,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 230,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 125,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 118,
|
| 67 |
+
"end_frame": 132
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 213,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 206,
|
| 74 |
+
"end_frame": 220
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 123,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the round mug with one handle from the table, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
|
| 6 |
+
"num_frames": 330,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 329,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 209,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 202,
|
| 74 |
+
"end_frame": 216
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 301,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 294,
|
| 81 |
+
"end_frame": 308
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base8",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 124,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "With the left arm, grab the green drinking mug, spin it, place it down, then use the right arm to hang it on the smooth rack.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base8",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 125,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the cylindrical beige ceramic mug, twist it, set it back, and secure it onto the metallic rack with smooth finish.",
|
| 6 |
+
"num_frames": 327,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 222,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 223,
|
| 43 |
+
"end_frame": 326,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 206,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 199,
|
| 74 |
+
"end_frame": 213
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 298,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 291,
|
| 81 |
+
"end_frame": 305
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 126,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the mug with curved black handle, turn it, place it back, and move it onto the metal rack with the right arm.",
|
| 6 |
+
"num_frames": 338,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 337,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 308,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 301,
|
| 81 |
+
"end_frame": 315
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 127,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "With the left arm, grab the mug with round handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
|
| 6 |
+
"num_frames": 337,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 229,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 230,
|
| 43 |
+
"end_frame": 336,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 212,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 205,
|
| 74 |
+
"end_frame": 219
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 308,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 301,
|
| 81 |
+
"end_frame": 315
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 128,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the black mug using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 309,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 302,
|
| 81 |
+
"end_frame": 316
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 129,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the glossy black mug medium-sized for drinking, rotate it, place it back on the table, and hang it on the dark gray angled rack afterward.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 53,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 46,
|
| 60 |
+
"end_frame": 60
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 305,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 298,
|
| 81 |
+
"end_frame": 312
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json
ADDED
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@@ -0,0 +1,89 @@
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| 1 |
+
{
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| 2 |
+
"episode_index": 130,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the medium mug with blue design from the table, rotate it, place it, and then hang it onto the metal rack.",
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| 6 |
+
"num_frames": 337,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
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| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 223,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 224,
|
| 43 |
+
"end_frame": 336,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 123,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 116,
|
| 67 |
+
"end_frame": 130
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 207,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 200,
|
| 74 |
+
"end_frame": 214
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json
ADDED
|
@@ -0,0 +1,89 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode_index": 131,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the hand-sized black mug, twist it, set it back, and secure it onto the angled rack with long and short rods.",
|
| 6 |
+
"num_frames": 331,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 330,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json
ADDED
|
@@ -0,0 +1,89 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode_index": 132,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to lift the ceramic mug for hot drinks, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 331,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 135,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 136,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 330,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 53,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 46,
|
| 60 |
+
"end_frame": 60
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 120,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 113,
|
| 67 |
+
"end_frame": 127
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 302,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 295,
|
| 81 |
+
"end_frame": 309
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base8",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 133,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the palm-sized mug glossy black body, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 125,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 118,
|
| 67 |
+
"end_frame": 132
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 134,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the ceramic mug smooth beige surface, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
|
| 6 |
+
"num_frames": 338,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 143,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 144,
|
| 33 |
+
"end_frame": 229,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 230,
|
| 43 |
+
"end_frame": 337,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 59,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 52,
|
| 60 |
+
"end_frame": 66
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 128,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 121,
|
| 67 |
+
"end_frame": 135
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 213,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 206,
|
| 74 |
+
"end_frame": 220
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 135,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Grab the mug with prints from the table, rotate it, place it, and hang it onto the smooth dark gray rack.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 306,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 299,
|
| 81 |
+
"end_frame": 313
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base3",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 136,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the black coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 330,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 223,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 224,
|
| 43 |
+
"end_frame": 329,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 207,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 200,
|
| 74 |
+
"end_frame": 214
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 302,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 295,
|
| 81 |
+
"end_frame": 309
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 137,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the curved handle mug from the table, rotate it, place it, and then hang it onto the dark gray rack.",
|
| 6 |
+
"num_frames": 330,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 135,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 136,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 329,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 120,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 113,
|
| 67 |
+
"end_frame": 127
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 301,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 294,
|
| 81 |
+
"end_frame": 308
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base3",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 138,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to grab the mug with glossy texture, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.",
|
| 6 |
+
"num_frames": 330,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 329,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 125,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 118,
|
| 67 |
+
"end_frame": 132
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 300,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 293,
|
| 81 |
+
"end_frame": 307
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base3",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 139,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the mug for drinking liquids, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
|
| 6 |
+
"num_frames": 335,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 334,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 308,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 301,
|
| 81 |
+
"end_frame": 315
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 140,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the medium mug with blue design from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
|
| 6 |
+
"num_frames": 328,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 327,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 298,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 291,
|
| 81 |
+
"end_frame": 305
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 141,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Grab the mug with rounded base, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
|
| 6 |
+
"num_frames": 338,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 337,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 142,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Using the left arm, pick the black coffee mug, turn it, place it down, and hang it on the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 328,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 223,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 224,
|
| 43 |
+
"end_frame": 327,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 207,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 200,
|
| 74 |
+
"end_frame": 214
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 298,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 291,
|
| 81 |
+
"end_frame": 305
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 143,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Grab the black ceramic mug, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 228,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 229,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 123,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 116,
|
| 67 |
+
"end_frame": 130
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 212,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 205,
|
| 74 |
+
"end_frame": 219
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 144,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Using the left arm, pick the mug with rounded handle, turn it, place it down, and hang it on the angled rack with long and short rods.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 229,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 230,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 125,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 118,
|
| 67 |
+
"end_frame": 132
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 213,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 206,
|
| 74 |
+
"end_frame": 220
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 145,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to lift the white ceramic mug with handle, rotate it, put it down, then hook onto the metal rack.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 53,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 46,
|
| 60 |
+
"end_frame": 60
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 209,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 202,
|
| 74 |
+
"end_frame": 216
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 146,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the light brown mug, turn it, place it back, and move it onto the smooth dark gray rack with the right arm.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 227,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 228,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 305,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 298,
|
| 81 |
+
"end_frame": 312
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base2",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 147,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 123,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 116,
|
| 67 |
+
"end_frame": 130
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 148,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the black coffee mug, rotate it, place it in the center, then hang it on the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 347,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 78,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 79,
|
| 23 |
+
"end_frame": 152,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 153,
|
| 33 |
+
"end_frame": 241,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 242,
|
| 43 |
+
"end_frame": 346,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 62,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 55,
|
| 60 |
+
"end_frame": 69
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 137,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 130,
|
| 67 |
+
"end_frame": 144
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 225,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 218,
|
| 74 |
+
"end_frame": 232
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 318,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 311,
|
| 81 |
+
"end_frame": 325
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 149,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the mug with rounded handle, turn it around, set it in the middle, and place it on the smooth dark gray rack.",
|
| 6 |
+
"num_frames": 329,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 222,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 223,
|
| 43 |
+
"end_frame": 328,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 206,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 199,
|
| 74 |
+
"end_frame": 213
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 300,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 293,
|
| 81 |
+
"end_frame": 307
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 150,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Using your left arm, lift the mug for hot drinks, rotate it, place it down, then your right arm to hang it onto the rack with angular body.",
|
| 6 |
+
"num_frames": 339,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 338,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 309,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 302,
|
| 81 |
+
"end_frame": 316
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base3",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 151,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "With the left arm, pick the white mug with glossy finish, rotate it, place it, then hang it onto the rack with two rods sticking out.",
|
| 6 |
+
"num_frames": 335,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 228,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 229,
|
| 43 |
+
"end_frame": 334,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 123,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 116,
|
| 67 |
+
"end_frame": 130
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 212,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 205,
|
| 74 |
+
"end_frame": 219
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 152,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Using your left arm, lift the drinking mug with smooth body, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 329,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 139,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 328,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 123,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 116,
|
| 67 |
+
"end_frame": 130
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 209,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 202,
|
| 74 |
+
"end_frame": 216
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 299,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 292,
|
| 81 |
+
"end_frame": 306
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base2",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 153,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the mug with side handle up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
|
| 6 |
+
"num_frames": 332,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 135,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 136,
|
| 33 |
+
"end_frame": 220,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 221,
|
| 43 |
+
"end_frame": 331,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 120,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 113,
|
| 67 |
+
"end_frame": 127
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 204,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 197,
|
| 74 |
+
"end_frame": 211
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 304,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 297,
|
| 81 |
+
"end_frame": 311
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 154,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the beige mug used for drinks from the table, spin it, place it in the center, then hang it on the smooth rack.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 306,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 299,
|
| 81 |
+
"end_frame": 313
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 155,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick the beige ceramic mug, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 336,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 335,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 308,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 301,
|
| 81 |
+
"end_frame": 315
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 156,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the cylindrical mug with black finish from the table, spin it, place it in the center, then hang it on the rack with angular body.",
|
| 6 |
+
"num_frames": 330,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 222,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 223,
|
| 43 |
+
"end_frame": 329,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 53,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 46,
|
| 60 |
+
"end_frame": 60
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 206,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 199,
|
| 74 |
+
"end_frame": 213
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 157,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Grab the medium white mug with handle, rotate it, place it in the middle, and hang it onto the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 335,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 140,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 141,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 334,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 125,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 118,
|
| 67 |
+
"end_frame": 132
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 307,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 300,
|
| 81 |
+
"end_frame": 314
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base9",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 158,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to grab the light beige drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
|
| 6 |
+
"num_frames": 338,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 228,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 229,
|
| 43 |
+
"end_frame": 337,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 211,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 204,
|
| 74 |
+
"end_frame": 218
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 159,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Pick up the ceramic mug smooth outside, turn it, place it centrally, then hang the ceramic mug smooth outside onto the metallic rack with smooth finish.",
|
| 6 |
+
"num_frames": 339,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 338,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 55,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 48,
|
| 60 |
+
"end_frame": 62
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 209,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 202,
|
| 74 |
+
"end_frame": 216
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 310,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 303,
|
| 81 |
+
"end_frame": 317
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base0",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 160,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Using your left arm, lift the white ceramic mug with handle, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 227,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 228,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 211,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 204,
|
| 74 |
+
"end_frame": 218
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 304,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 297,
|
| 81 |
+
"end_frame": 311
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 161,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the smooth ceramic beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
|
| 6 |
+
"num_frames": 346,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 139,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 140,
|
| 33 |
+
"end_frame": 226,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 227,
|
| 43 |
+
"end_frame": 345,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 124,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 117,
|
| 67 |
+
"end_frame": 131
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 210,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 203,
|
| 74 |
+
"end_frame": 217
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 319,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 312,
|
| 81 |
+
"end_frame": 326
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 162,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to pick the mug with rounded base, turn it, place it, then hang on the rack with two rods sticking out.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 136,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 137,
|
| 33 |
+
"end_frame": 224,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 225,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 121,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 114,
|
| 67 |
+
"end_frame": 128
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 208,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 201,
|
| 74 |
+
"end_frame": 215
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 304,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 297,
|
| 81 |
+
"end_frame": 311
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base7",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 163,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Lift the cylindrical mug with curved handle, twist it, set it back, and secure it onto the metal rack.",
|
| 6 |
+
"num_frames": 338,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 141,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 142,
|
| 33 |
+
"end_frame": 227,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 228,
|
| 43 |
+
"end_frame": 337,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 126,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 119,
|
| 67 |
+
"end_frame": 133
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 211,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 204,
|
| 74 |
+
"end_frame": 218
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 309,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 302,
|
| 81 |
+
"end_frame": 316
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 164,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use the left arm to pick the hand-sized ceramic cylindrical mug, turn it, place it, then hang on the metal rack.",
|
| 6 |
+
"num_frames": 331,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 135,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 136,
|
| 33 |
+
"end_frame": 222,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 223,
|
| 43 |
+
"end_frame": 330,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 120,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 113,
|
| 67 |
+
"end_frame": 127
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 206,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 199,
|
| 74 |
+
"end_frame": 213
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base6",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 165,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the mug with prints, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
|
| 6 |
+
"num_frames": 328,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 69,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 70,
|
| 23 |
+
"end_frame": 134,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 135,
|
| 33 |
+
"end_frame": 220,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 221,
|
| 43 |
+
"end_frame": 327,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 54,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 47,
|
| 60 |
+
"end_frame": 61
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 119,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 112,
|
| 67 |
+
"end_frame": 126
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 204,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 197,
|
| 74 |
+
"end_frame": 211
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 298,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 291,
|
| 81 |
+
"end_frame": 305
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base3",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 166,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Use one arm to grab the green drinking mug, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
|
| 6 |
+
"num_frames": 356,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 77,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 78,
|
| 23 |
+
"end_frame": 147,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 148,
|
| 33 |
+
"end_frame": 238,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 239,
|
| 43 |
+
"end_frame": 355,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 61,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 54,
|
| 60 |
+
"end_frame": 68
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 132,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 125,
|
| 67 |
+
"end_frame": 139
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 222,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 215,
|
| 74 |
+
"end_frame": 229
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 327,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 320,
|
| 81 |
+
"end_frame": 334
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base8",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 167,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the drinking mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.",
|
| 6 |
+
"num_frames": 334,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 225,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 226,
|
| 43 |
+
"end_frame": 333,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 56,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 49,
|
| 60 |
+
"end_frame": 63
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 209,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 202,
|
| 74 |
+
"end_frame": 216
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 305,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 298,
|
| 81 |
+
"end_frame": 312
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base1",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|
data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 168,
|
| 3 |
+
"repo": "hanging_mug-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "hanging_mug",
|
| 5 |
+
"task_goal": "Take the mug for drinking liquids, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
|
| 6 |
+
"num_frames": 333,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the mug.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 68,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Place the mug at the center of the table.",
|
| 21 |
+
"subtask_type": "single_place",
|
| 22 |
+
"start_frame": 69,
|
| 23 |
+
"end_frame": 137,
|
| 24 |
+
"boundary_source": "after_gripper_left_open",
|
| 25 |
+
"truncation_rule": "gripper_open",
|
| 26 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"subtask_index": 2,
|
| 30 |
+
"subtask_goal": "Grasp the mug.",
|
| 31 |
+
"subtask_type": "single_grasp",
|
| 32 |
+
"start_frame": 138,
|
| 33 |
+
"end_frame": 223,
|
| 34 |
+
"boundary_source": "after_gripper_right_close",
|
| 35 |
+
"truncation_rule": "gripper_close",
|
| 36 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"subtask_index": 3,
|
| 40 |
+
"subtask_goal": "Place the mug on the rack.",
|
| 41 |
+
"subtask_type": "single_place",
|
| 42 |
+
"start_frame": 224,
|
| 43 |
+
"end_frame": 332,
|
| 44 |
+
"boundary_source": "episode_end",
|
| 45 |
+
"truncation_rule": "episode_end",
|
| 46 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"metadata": {
|
| 50 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 51 |
+
"annotation_granularity": "coarse",
|
| 52 |
+
"gripper_threshold": 0.5,
|
| 53 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 54 |
+
"detected_gripper_events": [
|
| 55 |
+
{
|
| 56 |
+
"frame": 53,
|
| 57 |
+
"arm": "left",
|
| 58 |
+
"kind": "close",
|
| 59 |
+
"start_frame": 46,
|
| 60 |
+
"end_frame": 60
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"frame": 122,
|
| 64 |
+
"arm": "left",
|
| 65 |
+
"kind": "open",
|
| 66 |
+
"start_frame": 115,
|
| 67 |
+
"end_frame": 129
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"frame": 207,
|
| 71 |
+
"arm": "right",
|
| 72 |
+
"kind": "close",
|
| 73 |
+
"start_frame": 200,
|
| 74 |
+
"end_frame": 214
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"frame": 303,
|
| 78 |
+
"arm": "right",
|
| 79 |
+
"kind": "open",
|
| 80 |
+
"start_frame": 296,
|
| 81 |
+
"end_frame": 310
|
| 82 |
+
}
|
| 83 |
+
],
|
| 84 |
+
"scene_info": {
|
| 85 |
+
"{A}": "039_mug/base4",
|
| 86 |
+
"{B}": "040_rack/base0"
|
| 87 |
+
}
|
| 88 |
+
}
|
| 89 |
+
}
|