diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..5c6c54fcedd0f65eed52933e51904e63ed54b39c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000119.json @@ -0,0 +1,89 @@ +{ + "episode_index": 119, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..e29247e535fbfcdc8ab8490dc181bfcb3fed27a3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000120.json @@ -0,0 +1,89 @@ +{ + "episode_index": 120, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..11ba75f93dc4e47af20d2e2b3aa8284e367dd22d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000121.json @@ -0,0 +1,89 @@ +{ + "episode_index": 121, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 234, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 235, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..df835acdde3e7744454ed397212e64de4c48a6f5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000122.json @@ -0,0 +1,89 @@ +{ + "episode_index": 122, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..0df7ef419494019af1110cd163fab141803e827c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000123.json @@ -0,0 +1,89 @@ +{ + "episode_index": 123, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..c707b10d77b52dd7a1dfb256163400bc81307951 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000124.json @@ -0,0 +1,89 @@ +{ + "episode_index": 124, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..6861882cff6d86a578b878f5303b3e499527ec2b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000125.json @@ -0,0 +1,89 @@ +{ + "episode_index": 125, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical beige ceramic mug, twist it, set it back, and secure it onto the metallic rack with smooth finish.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..c55fdc79b19bd0d1269405595374d79a302e0b82 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000126.json @@ -0,0 +1,89 @@ +{ + "episode_index": 126, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..647a69ef5af6c7fa367eee9fcaad57ff72e0f86b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000127.json @@ -0,0 +1,89 @@ +{ + "episode_index": 127, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..496ff8b49c02159991565d3e06b36f6cebe73844 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000128.json @@ -0,0 +1,89 @@ +{ + "episode_index": 128, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..c936dc69b66aac181a7af74881779110eeb95143 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000129.json @@ -0,0 +1,89 @@ +{ + "episode_index": 129, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..e89b3cc6b3fb4bcd55e88a4cc8dffac4411dd650 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000130.json @@ -0,0 +1,89 @@ +{ + "episode_index": 130, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with blue design from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..c100a50074927dbc1c9c425b6247ca30dfb5f4cc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000131.json @@ -0,0 +1,89 @@ +{ + "episode_index": 131, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..a3cf75e0433e464c4e1122449dbba8bba50c6f80 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000132.json @@ -0,0 +1,89 @@ +{ + "episode_index": 132, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..792b1d9c5610791d9fe8a3e372de7fac1d3b8715 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000133.json @@ -0,0 +1,89 @@ +{ + "episode_index": 133, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..b5253cc9d6b7cee8437cd72afc898f0e8f03889e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000134.json @@ -0,0 +1,89 @@ +{ + "episode_index": 134, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca6390276327d34f8c6b26bad5011a0fc446980 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000135.json @@ -0,0 +1,89 @@ +{ + "episode_index": 135, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with prints from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..b104c25a8ac987a5a062e34452fbb3a1a484cbb1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000136.json @@ -0,0 +1,89 @@ +{ + "episode_index": 136, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..aeb6d7987b379a8172ea8902a4ec6129320064e6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000137.json @@ -0,0 +1,89 @@ +{ + "episode_index": 137, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the curved handle mug from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..96a64b6631ae5316f74da7513645b87378001a21 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000138.json @@ -0,0 +1,89 @@ +{ + "episode_index": 138, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..03e8ae2aa80aa2dc34db4a2f9054bb881b466f64 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000139.json @@ -0,0 +1,89 @@ +{ + "episode_index": 139, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cdc8c9d05482cec7efabcccd6f4faa0f2bcfb9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000140.json @@ -0,0 +1,89 @@ +{ + "episode_index": 140, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..43c5e1b8618ca3f49f2ee198df4da2d8f4ac7fce --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000141.json @@ -0,0 +1,89 @@ +{ + "episode_index": 141, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9c3ca3166ff8e423e78ed1b3e3d805f849ea29 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000142.json @@ -0,0 +1,89 @@ +{ + "episode_index": 142, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..15398dc890f89688f380f2355d5754e0f8a3df2d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000143.json @@ -0,0 +1,89 @@ +{ + "episode_index": 143, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba3041576f7056563ee03453c4c623d40936294 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000144.json @@ -0,0 +1,89 @@ +{ + "episode_index": 144, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..195c59a3fcfc0f2d046cca5e2e8d814547f75895 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000145.json @@ -0,0 +1,89 @@ +{ + "episode_index": 145, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe5194c63bff06581a4ac674bf1d42204c5fda9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000146.json @@ -0,0 +1,89 @@ +{ + "episode_index": 146, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..8813f6db162182965a200ee340c6198811322952 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000147.json @@ -0,0 +1,89 @@ +{ + "episode_index": 147, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..a157dbd7245160545db773dcd98933e1e1cb9ebf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000148.json @@ -0,0 +1,89 @@ +{ + "episode_index": 148, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 152, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 153, + "end_frame": 241, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 242, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..6852178050c39373f2daf587a6b810463d6df7b6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000149.json @@ -0,0 +1,89 @@ +{ + "episode_index": 149, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..cd011eed23aafc10f093ad1295bee5949a6b08a9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000150.json @@ -0,0 +1,89 @@ +{ + "episode_index": 150, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..1aed5ff2b0cd8570c70f11b1b694294696932b2d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000151.json @@ -0,0 +1,89 @@ +{ + "episode_index": 151, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..ec334b97fe0423e141b1230d68b99e064db8658f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000152.json @@ -0,0 +1,89 @@ +{ + "episode_index": 152, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a8d3dfe7b6608648975c44566b74d0a80aeacb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000153.json @@ -0,0 +1,89 @@ +{ + "episode_index": 153, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..255bf50099497f811ddec2246391186ebdebb01f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000154.json @@ -0,0 +1,89 @@ +{ + "episode_index": 154, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..3d97ffab85c1ef0963ba2ab331ef763d9920a7b7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000155.json @@ -0,0 +1,89 @@ +{ + "episode_index": 155, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..9aeed2e48e80154ab71d5c70f24710c3b1e62960 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000156.json @@ -0,0 +1,89 @@ +{ + "episode_index": 156, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..fcedfbe9fa24464a77c55d43aeac8fd31fa05942 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000157.json @@ -0,0 +1,89 @@ +{ + "episode_index": 157, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..275bf0ffc85b36200830141bbed461db01b7e371 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000158.json @@ -0,0 +1,89 @@ +{ + "episode_index": 158, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8fe60413adc37107261ff5a0512173d4ea92d4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000159.json @@ -0,0 +1,89 @@ +{ + "episode_index": 159, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..26c566bdc1472b47bc270ef05aaed160c3f714d3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000160.json @@ -0,0 +1,89 @@ +{ + "episode_index": 160, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..d77a78f6122eaddea34ebdb63a294ea2bc95b6c5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000161.json @@ -0,0 +1,89 @@ +{ + "episode_index": 161, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..f6dba3aca745bd82e13e5a30774003ef0e781a95 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000162.json @@ -0,0 +1,89 @@ +{ + "episode_index": 162, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa1b3d0c89294d5abe56e1120e22553e6fa810b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000163.json @@ -0,0 +1,89 @@ +{ + "episode_index": 163, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with curved handle, twist it, set it back, and secure it onto the metal rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..336e2a5f3b302abbe479de0852798daed96e6279 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000164.json @@ -0,0 +1,89 @@ +{ + "episode_index": 164, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the hand-sized ceramic cylindrical mug, turn it, place it, then hang on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..b051b68312ce294dc2d98d56bb1bed88565d9150 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000165.json @@ -0,0 +1,89 @@ +{ + "episode_index": 165, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..10354ffbcd6d1f6bcb29e0fa8d70c92bf5a21d75 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000166.json @@ -0,0 +1,89 @@ +{ + "episode_index": 166, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 356, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 147, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 238, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 239, + "end_frame": 355, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 327, + "arm": "right", + "kind": "open", + "start_frame": 320, + "end_frame": 334 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..a79a85b6ff0984bd6f37280bc7faaf7b46a95cc8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000167.json @@ -0,0 +1,89 @@ +{ + "episode_index": 167, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the drinking mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..62d1a2b3d66aa08ac9a444c542d44bb8b0103018 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000168.json @@ -0,0 +1,89 @@ +{ + "episode_index": 168, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..db080ed30e28e02938a81b80f29cd07b048750e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000169.json @@ -0,0 +1,89 @@ +{ + "episode_index": 169, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the logo mug, turn it, place it down, and hang it on the smooth dark gray rack.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..ec5859a41a70b44d01acca27106e06bcb2617d03 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000170.json @@ -0,0 +1,89 @@ +{ + "episode_index": 170, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the medium mug with handle, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..ae732ac3cc71ba8bb0437e90483115d225248968 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000171.json @@ -0,0 +1,89 @@ +{ + "episode_index": 171, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the beige mug used for drinks, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..575600bf15359ba32474b82ce0ca578486ac6ed1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000172.json @@ -0,0 +1,89 @@ +{ + "episode_index": 172, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium mug with handle, give it a turn, and hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..27d684c61c3276605e33a5de9902947e2d920384 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000173.json @@ -0,0 +1,89 @@ +{ + "episode_index": 173, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with rounded handle up, twist it, place it back, then hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..4a0bd4ef7396e015412d586bbe30b67316ec6ab9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000174.json @@ -0,0 +1,89 @@ +{ + "episode_index": 174, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical black mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..4ebf2f9aa0f2a0d0488b754eda135367e4173145 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000175.json @@ -0,0 +1,89 @@ +{ + "episode_index": 175, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth ceramic mug, flip it, set it down, and then attach it to the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..38e993086d33c038b6e96726ae9393eb356af372 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000176.json @@ -0,0 +1,89 @@ +{ + "episode_index": 176, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the solid black ceramic mug, rotate it, set it down, then hang on the smooth dark gray rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..8b05d8cb6e6809b9c21f0602723625e3394c9f82 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000177.json @@ -0,0 +1,89 @@ +{ + "episode_index": 177, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug for liquids, give it a turn, and hang it onto the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..61f417de74f378ec9dcec1fee0adb9e2a8ee8d02 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000178.json @@ -0,0 +1,89 @@ +{ + "episode_index": 178, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with thick sturdy handle, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..f3595365aa10ccfa068896371df51a5519e6f361 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000179.json @@ -0,0 +1,89 @@ +{ + "episode_index": 179, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with loop handle from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..31086136490216a051baea5a0d3961b881b86d14 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000180.json @@ -0,0 +1,89 @@ +{ + "episode_index": 180, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug, turn it, put it in the center, and transfer it to the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..30ccbe4e51de473937d0d4554ef6e69de7d1a732 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000181.json @@ -0,0 +1,89 @@ +{ + "episode_index": 181, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium light mug from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 365, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 244, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 245, + "end_frame": 364, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 228, + "arm": "right", + "kind": "close", + "start_frame": 221, + "end_frame": 235 + }, + { + "frame": 336, + "arm": "right", + "kind": "open", + "start_frame": 329, + "end_frame": 343 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..4d3927ba7eb50b48cdfc83feef2af435f0e2ba10 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000182.json @@ -0,0 +1,89 @@ +{ + "episode_index": 182, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the brown medium-sized ceramic mug, give it a turn, and hang it onto the rack with angular body.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ba91de892ed7550c66d8d91ef124bc2ffbe14d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000183.json @@ -0,0 +1,89 @@ +{ + "episode_index": 183, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium-sized smooth green Starbucks mug using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..4295090e3251cd001b0cc7173ea99c3b1c9a1d60 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000184.json @@ -0,0 +1,89 @@ +{ + "episode_index": 184, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with thick sturdy handle, rotate it, place it in the middle, and hang it on the dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..b67b5d8400ba5c60c378c0e5a815b188fa04f7ba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000185.json @@ -0,0 +1,89 @@ +{ + "episode_index": 185, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy texture, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..2383bec23ef4c0eabe6c8df9306e0837f2390398 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000186.json @@ -0,0 +1,89 @@ +{ + "episode_index": 186, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the logo mug, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..ab5d791555440501f540295511c5dabd3c63779a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000187.json @@ -0,0 +1,89 @@ +{ + "episode_index": 187, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug with cartoons, turn it around, set it in the middle, and place it on the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..eec27adf57820e5c5cb9f3148e70d41c6645062f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000188.json @@ -0,0 +1,89 @@ +{ + "episode_index": 188, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the smooth ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metal rack.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..d35bbbf1934795a0785f6fdc02cd18cade82c123 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000189.json @@ -0,0 +1,89 @@ +{ + "episode_index": 189, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with glossy beige finish, turn it, put it in the center, and transfer it to the medium rack with protruding rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..13d022da3b27acf35ef47fb76ff04dd00bec281c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000190.json @@ -0,0 +1,89 @@ +{ + "episode_index": 190, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the drinking mug with smooth body, rotate it, place it on the table, and hook it onto the smooth rack.", + "num_frames": 390, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 389, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..31adceebdb194d7ddd96cb42150991a4cc15c2be --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000191.json @@ -0,0 +1,89 @@ +{ + "episode_index": 191, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug for drinking liquids from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..337e326de96b87a5163c2f8fd505932ac9a54f93 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000192.json @@ -0,0 +1,89 @@ +{ + "episode_index": 192, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical black mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..a83b1bdd81628901c50191fdeb3e9bc5089447d7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000193.json @@ -0,0 +1,89 @@ +{ + "episode_index": 193, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug for hot drinks from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..6abd37cdb564d1bf036dd0e0dff0abedadebe9df --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000194.json @@ -0,0 +1,89 @@ +{ + "episode_index": 194, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the medium light mug, rotate it, put it down, then hook onto the rack with two rods sticking out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..c85084e579e5ecad0f41538c3f51b19ded6c36f5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000195.json @@ -0,0 +1,89 @@ +{ + "episode_index": 195, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with prints, spin it, place it down, then use the right arm to hang it on the metal rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..4199f3ba33125ff518ed0d9538ad83fd6f13d54b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000196.json @@ -0,0 +1,89 @@ +{ + "episode_index": 196, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..3544efa31fc8cc4465ff3afb8e0bb56a6d4c86b5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000197.json @@ -0,0 +1,89 @@ +{ + "episode_index": 197, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the brown mug for drinking, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..a7926c66092079dd54e9bb21c242fc2d4852e34d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000198.json @@ -0,0 +1,89 @@ +{ + "episode_index": 198, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the drinking mug, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..9c55a7cd5de580b4b8a13ec7fe1d7f856a22fd08 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000199.json @@ -0,0 +1,89 @@ +{ + "episode_index": 199, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the beige mug, rotate it, and attach it to the dark gray angled rack after setting it down.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..7792af78e9e025521df213b7ef6f71b87a8ba6b7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000200.json @@ -0,0 +1,89 @@ +{ + "episode_index": 200, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the beige mug handle on side from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..8dd08c0aeb6c88f0b91f3a24657bd7ee119e8df5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000201.json @@ -0,0 +1,89 @@ +{ + "episode_index": 201, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..e2419422cfc1aef449d84b4c307c61464b4c3ff1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000202.json @@ -0,0 +1,89 @@ +{ + "episode_index": 202, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium-sized drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..9771546d0a9829ed2c30044d4843f5107f423be4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000203.json @@ -0,0 +1,89 @@ +{ + "episode_index": 203, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the beige mug handle on side up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..cd46a363ffbf4c4424cf6f1311adfe95a6986887 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000204.json @@ -0,0 +1,89 @@ +{ + "episode_index": 204, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with glossy texture, rotate it, place it down, then your right arm to hang it onto the dark gray rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..354fcc7c35c8c7263a133cec3a01ad440d2a4b30 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000205.json @@ -0,0 +1,89 @@ +{ + "episode_index": 205, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with handle from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..c6f86af5cf92ba672a646a5131e554dd6a0f817e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000206.json @@ -0,0 +1,89 @@ +{ + "episode_index": 206, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug with printed logo, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..e36f974cdbc22d78a5fbcb255f76f0d9d9348666 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000207.json @@ -0,0 +1,89 @@ +{ + "episode_index": 207, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the Starbucks branded coffee mug from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..3d79d33ce9f435d0f39c3ca413d2dfeadcf4066c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000208.json @@ -0,0 +1,89 @@ +{ + "episode_index": 208, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug with glossy finish, rotate it, place it in the center, then hang it on the rack with two rods sticking out.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..da2f203cbae1eaf3314a1b3b25b6475000ce24e2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000209.json @@ -0,0 +1,89 @@ +{ + "episode_index": 209, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the Starbucks branded coffee mug, turn it, put it in the center, and transfer it to the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..2d70e00994ce8ddd33b61ed084e01e9fbdba5be9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000210.json @@ -0,0 +1,89 @@ +{ + "episode_index": 210, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light brown cylindrical mug from the table, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 350, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..8d98c1c3451863dbb210bdd9dfdb4ce158eb37d6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000211.json @@ -0,0 +1,89 @@ +{ + "episode_index": 211, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the glossy beige ceramic drinking mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..f66787446a9c04afc6c312d582b2493ec6a38840 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000212.json @@ -0,0 +1,89 @@ +{ + "episode_index": 212, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with smooth texture from the table, rotate it, place it, and then hang it onto the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..ff95e08648fa976c91bb777397d9f1f9289b0e21 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000213.json @@ -0,0 +1,89 @@ +{ + "episode_index": 213, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug from the table, spin it, place it in the center, then hang it on the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6aa996a694d86bf89a455488eafc0f6cb344a2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000214.json @@ -0,0 +1,89 @@ +{ + "episode_index": 214, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the mug with curved black handle, turn it, place it, then hang on the angled rack with long and short rods.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..eaff6652171ad538ff9b7899bc3634ad38b4b941 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000215.json @@ -0,0 +1,89 @@ +{ + "episode_index": 215, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth dark green mug, turn it around, set it in the middle, and place it on the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecfbc5662986f0c5d5c54f508fc6cdb4d34e5d6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000216.json @@ -0,0 +1,89 @@ +{ + "episode_index": 216, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug smooth beige surface, rotate it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..fc7e5e61eb4f13fd5feb1efc430000f63ad2aea3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000217.json @@ -0,0 +1,89 @@ +{ + "episode_index": 217, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the smooth dark green mug, rotate it, place it down, then your right arm to hang it onto the smooth dark gray rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..3b11888c457fee9a33f16a2a9ef1f9574a305166 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000218.json @@ -0,0 +1,89 @@ +{ + "episode_index": 218, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with side handle from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..cebe0e6b951f9679f30569841e6273b419e82e43 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000219.json @@ -0,0 +1,89 @@ +{ + "episode_index": 219, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-sized mug with blue artwork, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..d24437d304c840a73c2c0841f2b4fe83b62a9d5f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000220.json @@ -0,0 +1,89 @@ +{ + "episode_index": 220, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical coffee mug with handle from the table using one hand, rotate, and hang it on the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..59ef41446a01fd8a7089e53c1c7e9c02f6047e39 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000221.json @@ -0,0 +1,89 @@ +{ + "episode_index": 221, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige ceramic drinking mug, rotate it, place it down, and hang it onto the rack with two rods sticking out with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..08d4f7cf94a01815a0534c26e64269b210953e74 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000222.json @@ -0,0 +1,89 @@ +{ + "episode_index": 222, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..7e266c60a86ddee4e886a1719d96fe03fd5930c0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000223.json @@ -0,0 +1,89 @@ +{ + "episode_index": 223, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with glossy finish from the table, turn it, put it down in the middle, then hang it onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..0b17d72ab94247eaa4522cd04e46cfbe74a8a50a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000224.json @@ -0,0 +1,89 @@ +{ + "episode_index": 224, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the cylindrical mug with black finish, rotate it, set it down, then hang the cylindrical mug with black finish onto the dark gray rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 234, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 235, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..859ea0df70cc605225966e0ef814a2e9974aceb5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000225.json @@ -0,0 +1,89 @@ +{ + "episode_index": 225, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug with handle, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..a04f141ec97e5b4b64afe4d8976bd8b3bb6068de --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000226.json @@ -0,0 +1,89 @@ +{ + "episode_index": 226, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige mug polished ceramic build, rotate it, place it in the middle, and hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..652cc5db20c6f69dffa2666fc6877daeacaa968f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000227.json @@ -0,0 +1,89 @@ +{ + "episode_index": 227, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light brown mug with handle, rotate it, set it down, then hang the light brown mug with handle onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2c127a0723c2e8c0ec3809f80172adcf2ce2a4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000228.json @@ -0,0 +1,89 @@ +{ + "episode_index": 228, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..c16fffc74cea80aafa72b7965407c62ad7992860 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000229.json @@ -0,0 +1,89 @@ +{ + "episode_index": 229, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the dark green ceramic cup, rotate it, put it down, then hook onto the rack with angular body.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 148, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 237, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 238, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..e788a813e1eeafc8687e3bcb59b6f8cf66efd066 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000230.json @@ -0,0 +1,89 @@ +{ + "episode_index": 230, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 369, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 151, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 152, + "end_frame": 251, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 252, + "end_frame": 368, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 235, + "arm": "right", + "kind": "close", + "start_frame": 228, + "end_frame": 242 + }, + { + "frame": 339, + "arm": "right", + "kind": "open", + "start_frame": 332, + "end_frame": 346 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..78c381d13da4ff5e100b1b6f5d1147d6d7eacf77 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000231.json @@ -0,0 +1,89 @@ +{ + "episode_index": 231, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the cylindrical mug with curved handle, rotate it, place it, then hang it onto the rack with angular body.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..4b92f145691ec9dd07ddc65a4f273f30dd4a1b26 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000232.json @@ -0,0 +1,89 @@ +{ + "episode_index": 232, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle, rotate it, set it on the table's center, then hang it onto the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..17b3a27ff39fc933b7041508419fb62fb81d880f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000233.json @@ -0,0 +1,89 @@ +{ + "episode_index": 233, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..5be31ab0b06473e914e4d94e7424a35026916093 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000234.json @@ -0,0 +1,89 @@ +{ + "episode_index": 234, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the blue mug with solid texture, rotate it, set it down, then hang on the angular rack with slanted support rod.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..d1f75780dd0bad5784c634480f41ff2de5edb0b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000235.json @@ -0,0 +1,89 @@ +{ + "episode_index": 235, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the medium mug fits in hand, rotate it, put it down, then hook onto the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8750cdb15f1334944601b6ac29663f2b5a7d6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000236.json @@ -0,0 +1,89 @@ +{ + "episode_index": 236, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige mug used for drinks from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..22de4e89a12e09a53e74ffee6217e5b880be113f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000237.json @@ -0,0 +1,89 @@ +{ + "episode_index": 237, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for drinking liquids, twist it, set it back, and secure it onto the rack with angular body.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..e79ce3efa6d702b5598ead74c34c5bb784860c1c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000238.json @@ -0,0 +1,89 @@ +{ + "episode_index": 238, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug for hot drinks with one arm, rotate it, and hang it onto the smooth dark gray rack.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..36f15182b6fb203bd161d2f7f16d9a11526bbaa2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000239.json @@ -0,0 +1,89 @@ +{ + "episode_index": 239, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the brown mug, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..7e13467c5fbaec4b4f07c1f91cfac8379836cdd6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000240.json @@ -0,0 +1,89 @@ +{ + "episode_index": 240, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the drinking mug, turn it, place it back, and move it onto the smooth rack with the right arm.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..4784657d21ecb4e4e3223ef922500907e5dfc9a4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000241.json @@ -0,0 +1,89 @@ +{ + "episode_index": 241, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with black finish from the table, rotate it, place it in the middle, and hang it on the rack with angular body.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 243, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 244, + "end_frame": 350, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 227, + "arm": "right", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..415c0cee06ba812ad075a772ed4e8e6c1fece8a6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000242.json @@ -0,0 +1,89 @@ +{ + "episode_index": 242, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the bright blue coffee mug, rotate it, set it down, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..4a91d9895b4f1abf1595ccde4694106092cab912 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000243.json @@ -0,0 +1,89 @@ +{ + "episode_index": 243, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light beige ceramic drinking mug up, twist it, place it back, then hang it onto the angled rack with long and short rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..b444986bc3c69484f7309a11faf694271caba256 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000244.json @@ -0,0 +1,89 @@ +{ + "episode_index": 244, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with round handle from the table, rotate it, place it, and then hang it onto the rack with angular body.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 148, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 149, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..6de522c18954c916b1b8e4d636df6b1133c384ae --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000245.json @@ -0,0 +1,89 @@ +{ + "episode_index": 245, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the white ceramic mug with handle, rotate it, set it down, then hang the white ceramic mug with handle onto the rack with two rods sticking out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..5516a30a46784f3213f42365fd28653831703b2a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000246.json @@ -0,0 +1,89 @@ +{ + "episode_index": 246, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with logo design on side using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..eef44f07d7fa32941795bdcae8174662720e220d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000247.json @@ -0,0 +1,89 @@ +{ + "episode_index": 247, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white mug, turn it, put it in the center, and transfer it to the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..d32139e2262327ffae7037f2c7aa44b5888a81c2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000248.json @@ -0,0 +1,89 @@ +{ + "episode_index": 248, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige mug handle on side, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..7d92f082a5e2687408065cb5d443db49d603347c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000249.json @@ -0,0 +1,89 @@ +{ + "episode_index": 249, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-held ceramic mug from the table, rotate it, place it, and then hang it onto the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 232, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 233, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4cbabcc831e4fad7928781d957580272258150 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000250.json @@ -0,0 +1,89 @@ +{ + "episode_index": 250, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle with one arm, rotate it, and hang it onto the rack with angular body.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..8beb51d6d1e5ec6098e4a35f6471310f19170802 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000251.json @@ -0,0 +1,89 @@ +{ + "episode_index": 251, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black coffee mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..f0486679ede9a6cb9012f5bbc60ce2f429630eb7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000252.json @@ -0,0 +1,89 @@ +{ + "episode_index": 252, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the ceramic mug smooth beige surface, turn it, place it, then hang on the dark gray rack.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..069ceb7ad5bc8fb2e4f15f43c44852591b9d6f72 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000253.json @@ -0,0 +1,88 @@ +{ + "episode_index": 253, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized black mug, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 218, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 219, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..e8879b7e5244130e3e74cb70b6e98a6d55b96610 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000254.json @@ -0,0 +1,89 @@ +{ + "episode_index": 254, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the blue mug with solid texture from the table, rotate it, place it in the center, then hang it onto the metal rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..7fe93b18301a23666501b95361d594ed4e8f0286 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000255.json @@ -0,0 +1,89 @@ +{ + "episode_index": 255, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the beige mug handle on side, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..7c025fb367c4f2a8825be4e90aa72dc06a3bdd84 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000256.json @@ -0,0 +1,89 @@ +{ + "episode_index": 256, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the light beige drinking mug, spin it, place it down, then use the right arm to hang it on the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..221512eaa87fa82f39e5cc321274ff46287923bd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000257.json @@ -0,0 +1,89 @@ +{ + "episode_index": 257, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the glossy black mug medium-sized for drinking, rotate it, place it in the middle, and hang it onto the smooth rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..163882f990bb5f1a32f440f653cb9825addd37dd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000258.json @@ -0,0 +1,89 @@ +{ + "episode_index": 258, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the printed white ceramic mug from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..6bd0cd9c4dd85c2c97324dc8f67c2e465223babf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000259.json @@ -0,0 +1,89 @@ +{ + "episode_index": 259, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the medium beige mug, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..e610fee3b83e3c0507884e232f830b291672af82 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000260.json @@ -0,0 +1,89 @@ +{ + "episode_index": 260, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with curved handle, rotate it, put it down in the table's center, then hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..71341119fac515f0972dcbec3e1ba098b97f62f5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000261.json @@ -0,0 +1,89 @@ +{ + "episode_index": 261, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the ceramic mug with printed logo, turn it, place it centrally, then hang the ceramic mug with printed logo onto the metallic rack with smooth finish.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..5e5d24bb86812cd08f928c1d73659491275395aa --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000262.json @@ -0,0 +1,89 @@ +{ + "episode_index": 262, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical mug with curved handle, turn it, put it in the center, and transfer it to the rack with two rods sticking out.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb9b40efcea1fc781ec1403a8503497f03fe950 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000263.json @@ -0,0 +1,89 @@ +{ + "episode_index": 263, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug from the table, spin it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..0628af7e551793d548dc41f757dc3659c1b43c95 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000264.json @@ -0,0 +1,89 @@ +{ + "episode_index": 264, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug from the table, turn it, set it down, and attach it to the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..2a96f95522e8a0b85f9dbe49f5d93c8c9168ba1d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000265.json @@ -0,0 +1,89 @@ +{ + "episode_index": 265, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the colorful cartoon mug from the table, spin it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..d2bc77dc32e3119403ece13ce5d46677e36f56ba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000266.json @@ -0,0 +1,89 @@ +{ + "episode_index": 266, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light brown mug with handle, rotate it, place it in the middle, and hang it onto the smooth dark gray rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..cefd756443227d86691fcb3ac5f92894735451a3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000267.json @@ -0,0 +1,89 @@ +{ + "episode_index": 267, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the starbucks green mug, rotate it, place it down, then your right arm to hang it onto the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 349, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..2f03c2838af0b6864be423808c02d40470a46253 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000268.json @@ -0,0 +1,89 @@ +{ + "episode_index": 268, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the glossy beige ceramic drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..6c06b8d1940e2ae879c50134b99255925e3c789f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000269.json @@ -0,0 +1,89 @@ +{ + "episode_index": 269, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle, rotate it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..dc57ed475b83c5f9d73f7f0494fcfdfa732aa91e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000270.json @@ -0,0 +1,89 @@ +{ + "episode_index": 270, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the printed white ceramic mug, rotate it, place it, then hang it onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..80806dd833784a6d95e2c312909e3f0e896c0d3e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000271.json @@ -0,0 +1,89 @@ +{ + "episode_index": 271, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with yellow chicken image, turn it around, put it back, then attach it to the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..36f06c06b12695ed4ec4c197b8bda3ab9f1935dc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000272.json @@ -0,0 +1,89 @@ +{ + "episode_index": 272, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..7d59784921b913210978231812591e3c8a4298e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000273.json @@ -0,0 +1,89 @@ +{ + "episode_index": 273, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth white mug, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..4cdfdafcfdb0ff6a23bdf6ea8d69989a38b7fc56 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000274.json @@ -0,0 +1,89 @@ +{ + "episode_index": 274, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the starbucks green mug, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 369, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..a246080a3b3462160a0815ba140a4b05db933754 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000275.json @@ -0,0 +1,89 @@ +{ + "episode_index": 275, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8ea7e9638f237ef01beb7d211f95e43ef1c3d5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000276.json @@ -0,0 +1,89 @@ +{ + "episode_index": 276, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..439393a9c20547fb55385aafee8bc0b50b4c162b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000277.json @@ -0,0 +1,89 @@ +{ + "episode_index": 277, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with side handle from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..75970a447ed50cb46aa70fac68d1ed13a613ce6d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000278.json @@ -0,0 +1,89 @@ +{ + "episode_index": 278, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the mug for drinking liquids, turn it, set it centrally, and use the other to hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..9585e5e599a666e0346dcbd9b3c0c176d78e6f07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000279.json @@ -0,0 +1,89 @@ +{ + "episode_index": 279, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the glossy beige ceramic drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..c960df286a6eaa565eb8d5f9866194cb0bf2c215 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000280.json @@ -0,0 +1,89 @@ +{ + "episode_index": 280, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with rounded sturdy handle, rotate it, place it in the center, then hang it on the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 237, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 238, + "end_frame": 349, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..0b5bcd80488b78150947b2d43ca4ecbbbfb295ac --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000281.json @@ -0,0 +1,89 @@ +{ + "episode_index": 281, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the basic mug in solid white from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..76db3556df9bbffe47da29ac109c277b6ca45508 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000282.json @@ -0,0 +1,89 @@ +{ + "episode_index": 282, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 351, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..1c226545da7689d3bbd49239384681c84b9f4080 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000283.json @@ -0,0 +1,89 @@ +{ + "episode_index": 283, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..819bbe11eadbc5cddffc4784d940b143907c4ec7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000284.json @@ -0,0 +1,89 @@ +{ + "episode_index": 284, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the drinking mug with smooth body, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..434b8ae0750a89b09f533286798cb7c8af69bebc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000285.json @@ -0,0 +1,89 @@ +{ + "episode_index": 285, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the cylindrical coffee mug with handle, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..99db784d4009c181f013ddf6ada655776d72505e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000286.json @@ -0,0 +1,89 @@ +{ + "episode_index": 286, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the drinking mug shiny black exterior from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf07866cea500b6389fc387968187bb134b0676 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000287.json @@ -0,0 +1,89 @@ +{ + "episode_index": 287, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the beige ceramic mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..4785564df3c69bcd9d6fa078fbffbc77f6c35400 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000288.json @@ -0,0 +1,89 @@ +{ + "episode_index": 288, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with side handle using your left arm, turn it, set it on the table, and hang it on the dark gray angled rack with the right arm.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..914e3ec1f528fbff7fa8f8f3228d13dc61863b4c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000289.json @@ -0,0 +1,89 @@ +{ + "episode_index": 289, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with rounded handle, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..54d8cad79cfd0ec4658a260c8246ef386d5ed053 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000290.json @@ -0,0 +1,89 @@ +{ + "episode_index": 290, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the smooth black ceramic mug, rotate it, put it down, then hook onto the dark gray angled rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..3fda3202b5e698cd36607cb1a9098e2048d13ba2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000291.json @@ -0,0 +1,89 @@ +{ + "episode_index": 291, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with curved black handle, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 392, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 391, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..c34fcadfb31b661f4f16f3c131f83a3926076981 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000292.json @@ -0,0 +1,89 @@ +{ + "episode_index": 292, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy surface, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..ba05b33a84dadf53c35849cba619c0f3ba654f42 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000293.json @@ -0,0 +1,89 @@ +{ + "episode_index": 293, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium mug with handle, rotate it, set it down, then hang the medium mug with handle onto the angular rack with slanted support rod.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..66b4e11acc481e9f739d054447bf9380b18466c0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000294.json @@ -0,0 +1,89 @@ +{ + "episode_index": 294, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the cylindrical coffee mug with handle, rotate it, and attach it to the angled rack with long and short rods after setting it down.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec1e3cd74a34c5730dcd1f9d2f46094ae46120b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000295.json @@ -0,0 +1,89 @@ +{ + "episode_index": 295, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the colorful cartoon mug from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..e5e891ef22750327fb6da6b7edd054f1e19e771c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000296.json @@ -0,0 +1,89 @@ +{ + "episode_index": 296, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with rounded handle, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..637f21d101a8fbd1b381d16e3ae4da8921cbfe3a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000297.json @@ -0,0 +1,89 @@ +{ + "episode_index": 297, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug smooth outside from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 342, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..4f59e38b251ccbbc65005dd8d823bcb465d523c5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000298.json @@ -0,0 +1,89 @@ +{ + "episode_index": 298, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the white mug with rounded handle, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..dd0bf453145acd4717f5468a6df9896075121d35 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000299.json @@ -0,0 +1,89 @@ +{ + "episode_index": 299, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with glossy beige finish, spin it, place it down, then use the right arm to hang it on the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..998d24ed560778f75930d3f668b78a4d7986fdd0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000300.json @@ -0,0 +1,89 @@ +{ + "episode_index": 300, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth ceramic mug, rotate it, set it in the middle, then hang it on the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..108812af14a5632f9f75c2246116f1dff37916c2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000301.json @@ -0,0 +1,89 @@ +{ + "episode_index": 301, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with glossy texture, turn it around, set it in the middle, and place it on the smooth rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..337db1ec915f15020b945a8c355158d446b1c15f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000302.json @@ -0,0 +1,89 @@ +{ + "episode_index": 302, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug smooth rounded handle up, twist it, place it back, then hang it onto the rack with two rods sticking out.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 239, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 240, + "end_frame": 349, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..98f174b4a87bf3e3c4e0b4f6b982c2e7b16c20b2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000303.json @@ -0,0 +1,89 @@ +{ + "episode_index": 303, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table using one hand, rotate, and hang it on the dark gray rack.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..893f05168418a1d90a9baa9f93b642abca8cbe65 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000304.json @@ -0,0 +1,89 @@ +{ + "episode_index": 304, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with curved black handle from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..52098372e0771dbee0a13ca97a3eaaf952177f85 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000305.json @@ -0,0 +1,89 @@ +{ + "episode_index": 305, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 147, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 148, + "end_frame": 237, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 238, + "end_frame": 352, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6c30a889cc60f77ecf36142952e0f9bd9037f4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000306.json @@ -0,0 +1,89 @@ +{ + "episode_index": 306, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium-sized mug, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 232, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 233, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..55f380d32cefeb19b625181e660859b152941025 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000307.json @@ -0,0 +1,89 @@ +{ + "episode_index": 307, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the Starbucks branded coffee mug, rotate it, set it down, then hang the Starbucks branded coffee mug onto the medium rack with protruding rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..7939ef64044d27bae07c49da521c33774918ef76 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000308.json @@ -0,0 +1,89 @@ +{ + "episode_index": 308, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the blue mug with solid texture, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..82a73cd2300518e1ad40bd604dea41c2ca1b1b91 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000309.json @@ -0,0 +1,89 @@ +{ + "episode_index": 309, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the cylindrical coffee mug with handle, rotate it, put it down, then hook onto the smooth rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..f3bf118d33cdfa658e5a634a6430d0b5ac26abef --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000310.json @@ -0,0 +1,89 @@ +{ + "episode_index": 310, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized mug with blue artwork, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..c54e82d0c1d8c4a6b64a20b78e613726bb7ef3b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000311.json @@ -0,0 +1,89 @@ +{ + "episode_index": 311, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the light beige drinking mug, turn it, place it centrally, then hang the light beige drinking mug onto the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..1a95d3963649affb448c1100d596a9d86f23d29b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000312.json @@ -0,0 +1,89 @@ +{ + "episode_index": 312, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige drinking mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..fe13cf1db5d11d2c85683eb07435363a7a8e75cd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000313.json @@ -0,0 +1,89 @@ +{ + "episode_index": 313, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with glossy texture, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..a86a5aa9a07fc01239eabf016348dd153c57f4d8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000314.json @@ -0,0 +1,89 @@ +{ + "episode_index": 314, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black mug for liquids from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..df9944ea67828f1f373eacb61159c057e33626cc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000315.json @@ -0,0 +1,89 @@ +{ + "episode_index": 315, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the glossy mug for beverages from the table, turn it, put it down in the middle, then hang it onto the rack with two rods sticking out.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..56f9fb8cdbd6dfd846ed970998fde0c22fef3a39 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000316.json @@ -0,0 +1,89 @@ +{ + "episode_index": 316, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with handle, give it a turn, and hang it onto the dark gray angled rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..3de6f33b6488ba7cbb4e6ed371355211912a2fe0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000317.json @@ -0,0 +1,89 @@ +{ + "episode_index": 317, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build with one arm, rotate it, and hang it onto the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..85327fcb307284199dfcb0bbce8c4577608437ec --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000318.json @@ -0,0 +1,89 @@ +{ + "episode_index": 318, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, turn it, place it back, and move it onto the metal rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8888ebc6688ff3011c75cde4e7b98b81e8ff10 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000319.json @@ -0,0 +1,89 @@ +{ + "episode_index": 319, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical black mug, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..22298f24f9599497d287bb05902cdfde8b5d9c08 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000320.json @@ -0,0 +1,89 @@ +{ + "episode_index": 320, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the light beige ceramic drinking mug, rotate it, place it, then hang it onto the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..c136b36a18849923a29ff40afd9e69b790826f30 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000321.json @@ -0,0 +1,89 @@ +{ + "episode_index": 321, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the printed white ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6bedd3c4b25b907cac9b399cf18be140b02d20 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000322.json @@ -0,0 +1,89 @@ +{ + "episode_index": 322, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 395, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 239, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 240, + "end_frame": 394, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 329, + "arm": "right", + "kind": "open", + "start_frame": 322, + "end_frame": 336 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..2c7518c8f3a7f49f93dfbeae62ae8da172ea2f16 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000323.json @@ -0,0 +1,89 @@ +{ + "episode_index": 323, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug with printed logo from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..5391206e66562159bf9e22f0568c206cb010e55d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000324.json @@ -0,0 +1,89 @@ +{ + "episode_index": 324, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium light mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..e79ac917ca82208bf065e7a891458df1c7a543b6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000325.json @@ -0,0 +1,89 @@ +{ + "episode_index": 325, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with prints, rotate it, and attach it to the medium rack with protruding rods after setting it down.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..c5808dd546f9d634ffd0e6c310972c3812c86644 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000326.json @@ -0,0 +1,88 @@ +{ + "episode_index": 326, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the plain glossy mug from the table, turn it, set it down, and attach it to the smooth rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..5d00fd9531e7767f0f5735790eb6c8c468925e80 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000327.json @@ -0,0 +1,89 @@ +{ + "episode_index": 327, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the cylindrical black mug, rotate it, place it on the table, and hook it onto the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..8319c9f6a64b85db5cd07ffed45eeae8647e7cbb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000328.json @@ -0,0 +1,89 @@ +{ + "episode_index": 328, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the ceramic mug smooth beige surface, rotate it, put it down, then hook onto the metal rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..bf24420fad4790e15b8183cbd9c4ec4e3c6f6718 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000329.json @@ -0,0 +1,89 @@ +{ + "episode_index": 329, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the angular rack with slanted support rod.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..c73bbce737e4b93bddac47f194427a8d366031cd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000330.json @@ -0,0 +1,89 @@ +{ + "episode_index": 330, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the medium mug with blue design, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 356, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc77eebc9fbd1b00a0b8de27c980a3cf094191c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000331.json @@ -0,0 +1,89 @@ +{ + "episode_index": 331, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth ceramic mug, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..603db6a4d50ba9a3e386a070a3e0f5c78a6dfe5b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000332.json @@ -0,0 +1,89 @@ +{ + "episode_index": 332, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the plain glossy mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..fc01fcfd9a3dbfe89d55a04946bf62bfff96331f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000333.json @@ -0,0 +1,89 @@ +{ + "episode_index": 333, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige drinking mug, rotate it, set it down, then hang the light beige drinking mug onto the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..6fddb8f303c78354df05919ff55fcc7f001edf27 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000334.json @@ -0,0 +1,89 @@ +{ + "episode_index": 334, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with glossy beige finish, rotate it, place it in the middle, and hang it on the smooth rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..ff42945f502ebf260996b42aedfdf2b51ee33cd3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000335.json @@ -0,0 +1,89 @@ +{ + "episode_index": 335, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with black finish, twist it, set it back, and secure it onto the metallic rack with smooth finish.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 237, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 238, + "end_frame": 348, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..1a6105f879cbddcb59fa3f1a267aeaf05818e85d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000336.json @@ -0,0 +1,89 @@ +{ + "episode_index": 336, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white ceramic mug with handle, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..ddbdbab2feb8947be16e2c8fd72702ddf67d3c3c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000337.json @@ -0,0 +1,89 @@ +{ + "episode_index": 337, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug for holding liquid, rotate it, and attach it to the smooth dark gray rack after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..40b14d714eae4eabef3ba4a4b03ee43d2e8a3f19 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000338.json @@ -0,0 +1,89 @@ +{ + "episode_index": 338, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with yellow chicken image from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..d56169744beed587333baf788f3ca9cccb85e5d0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000339.json @@ -0,0 +1,89 @@ +{ + "episode_index": 339, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the brown mug for drinking, turn it around, put it back, then attach it to the dark gray angled rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..e3135b44d61c35e495886776995aa4db73f0d72d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000340.json @@ -0,0 +1,89 @@ +{ + "episode_index": 340, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6940112aa4e67ad9c1beaa5e209f13d89a17d3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000341.json @@ -0,0 +1,89 @@ +{ + "episode_index": 341, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the curved handle mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..db6938abf9ae2e9a327183eabbd10c37faa89bb2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000342.json @@ -0,0 +1,89 @@ +{ + "episode_index": 342, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..598bfb6dd90aff3e543aee3e33427663de25e5bb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000343.json @@ -0,0 +1,89 @@ +{ + "episode_index": 343, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with rounded sturdy handle, turn it around, set it in the middle, and place it on the metal rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..a42ae377caf5f76c55337118c3482152005e016e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000344.json @@ -0,0 +1,89 @@ +{ + "episode_index": 344, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the medium-sized smooth green Starbucks mug, turn it, place it down, and hang it on the dark gray angled rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..175824be8a9d74bf53e671a4cce2ec429620ab63 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000345.json @@ -0,0 +1,89 @@ +{ + "episode_index": 345, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the smooth ceramic beige mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..e469f5b945b7366f78b0395bd2b522de24c29e0c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000346.json @@ -0,0 +1,89 @@ +{ + "episode_index": 346, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical beige ceramic mug, give it a turn, and hang it onto the smooth dark gray rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..6e46694d5a59fc60c450e62f88deae8a21fc0602 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000347.json @@ -0,0 +1,89 @@ +{ + "episode_index": 347, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug for hot drinks, turn it around, put it back, then attach it to the metal rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..86f6e4bdee90a491dcc5edc9bdd09fa78741fafc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000348.json @@ -0,0 +1,89 @@ +{ + "episode_index": 348, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium mug fits in hand, flip it, set it down, and then attach it to the dark gray rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..1ca3cda68b38b41e925963ab75489972d109aa5b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000349.json @@ -0,0 +1,89 @@ +{ + "episode_index": 349, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..32138c45100989e9bca33bbc00ffd511a1a8e2fb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000350.json @@ -0,0 +1,89 @@ +{ + "episode_index": 350, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug with smooth surface, turn it around, put it back, then attach it to the smooth rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..19c4dd556c2caf6d55d72428682d32522e457d36 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000351.json @@ -0,0 +1,89 @@ +{ + "episode_index": 351, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug for holding liquid from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..dc0856600a03c7a582fdab125e686ca90fb46d1c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000352.json @@ -0,0 +1,89 @@ +{ + "episode_index": 352, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the solid black ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 76, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 77, + "end_frame": 146, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 238, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 239, + "end_frame": 350, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..e8557eb92b67fe7a3323ed8220449a1dd010df75 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000353.json @@ -0,0 +1,89 @@ +{ + "episode_index": 353, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with cartoon design from the table, rotate it, place it, and then hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..3909d0a8c26d67fc956b2f036692ac2266aee00b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000354.json @@ -0,0 +1,89 @@ +{ + "episode_index": 354, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..15577ff772ede8cd01b5e68a301cb513bc17cfe9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000355.json @@ -0,0 +1,89 @@ +{ + "episode_index": 355, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige ceramic mug from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..4125f6d772a508b5fc9584a054c09d632a60bdfe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000356.json @@ -0,0 +1,89 @@ +{ + "episode_index": 356, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the dark green ceramic cup from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6da7293ddc304a9f9eee798e1bdba03f3fbd6f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000357.json @@ -0,0 +1,89 @@ +{ + "episode_index": 357, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light beige drinking mug, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.", + "num_frames": 372, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 94, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 95, + "end_frame": 158, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 159, + "end_frame": 265, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 266, + "end_frame": 371, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 79, + "arm": "left", + "kind": "close", + "start_frame": 72, + "end_frame": 86 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 249, + "arm": "right", + "kind": "close", + "start_frame": 242, + "end_frame": 256 + }, + { + "frame": 342, + "arm": "right", + "kind": "open", + "start_frame": 335, + "end_frame": 349 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..31c0d67739c811f5480acb100d8eac1901c4e73a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000358.json @@ -0,0 +1,89 @@ +{ + "episode_index": 358, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the solid black ceramic mug, rotate it, place it, then hang it onto the smooth dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..309b78bda7c63d9df3c24f702b2eb472522dd957 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000359.json @@ -0,0 +1,89 @@ +{ + "episode_index": 359, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth black ceramic mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..83908f2adb48d15a5f44278953b6769be76aa9cd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000360.json @@ -0,0 +1,89 @@ +{ + "episode_index": 360, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with logo design on side, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d88a9bd4d5fe98e0ba92abf80443936623377d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000361.json @@ -0,0 +1,89 @@ +{ + "episode_index": 361, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the bright blue coffee mug, twist it, set it back, and secure it onto the angled rack with long and short rods.", + "num_frames": 373, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 154, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 155, + "end_frame": 254, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 255, + "end_frame": 372, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 238, + "arm": "right", + "kind": "close", + "start_frame": 231, + "end_frame": 245 + }, + { + "frame": 343, + "arm": "right", + "kind": "open", + "start_frame": 336, + "end_frame": 350 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..e8392558690a050a2f06258b2a21eef94f811ab3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000362.json @@ -0,0 +1,89 @@ +{ + "episode_index": 362, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the white mug, rotate it, and attach it to the angular rack with slanted support rod after setting it down.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..05c10a624c393db2d2edaeb3ffb6baf9d9b67205 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000363.json @@ -0,0 +1,89 @@ +{ + "episode_index": 363, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with round handle, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..a12166888f4d276f2166f5c25a06e41c7567d715 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000364.json @@ -0,0 +1,89 @@ +{ + "episode_index": 364, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the basic mug in solid white, rotate it, place it in the center, then hang it on the rack with angular body.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..bd7a586bfc3fc93659663044c6f2b44e5243a998 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000365.json @@ -0,0 +1,89 @@ +{ + "episode_index": 365, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium light mug, rotate it, place it back on the table, and hang it on the smooth rack afterward.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..e30bc21c37dfc40973843c295d532eced4cd7e0d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000366.json @@ -0,0 +1,89 @@ +{ + "episode_index": 366, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the white mug with glossy finish, rotate it, set it down, and hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec75a7c641f6835e208bd50ba9d1e24560ef5ea --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000367.json @@ -0,0 +1,89 @@ +{ + "episode_index": 367, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the brown mug for drinking from the table, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..d6be8c0efc0dcdc2872c3945ff8398a57f760ec6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000368.json @@ -0,0 +1,89 @@ +{ + "episode_index": 368, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug for drinking with one arm, rotate it, and hang it onto the smooth rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..e4097c03ced48c67a665c69db8a3b3e6c8f98673 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000369.json @@ -0,0 +1,89 @@ +{ + "episode_index": 369, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black mug from the table using one hand, rotate, and hang it on the rack with angular body.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..1be707e78aa88d4fef2ef87f95df537ad9190d6e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000370.json @@ -0,0 +1,89 @@ +{ + "episode_index": 370, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with logo design on side, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 350, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..63c235bcad9c6724541d609d0b9f62d37104bfcb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000371.json @@ -0,0 +1,89 @@ +{ + "episode_index": 371, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized black mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..b24097b75855d85eec3275b5b01368b34b68a53d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000372.json @@ -0,0 +1,89 @@ +{ + "episode_index": 372, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, turn it, place it back, and move it onto the dark gray angled rack with the right arm.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 347, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..5947c6ffde49d684800281e36f4f5fa25e324ed0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000373.json @@ -0,0 +1,89 @@ +{ + "episode_index": 373, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light brown mug up, twist it, place it back, then hang it onto the smooth rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..36f67583a772b23882413771604e8b65b1161970 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000374.json @@ -0,0 +1,89 @@ +{ + "episode_index": 374, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige ceramic mug from the table, turn it, set it down, and attach it to the smooth dark gray rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7d6afc43fa4a683bb75b10e5acaac6fd52ed57 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000375.json @@ -0,0 +1,89 @@ +{ + "episode_index": 375, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the ceramic mug smooth outside, rotate it, and attach it to the metallic angular rack with rod pair after setting it down.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b44a04bd626718f49228927f28a9999674fc5e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000376.json @@ -0,0 +1,89 @@ +{ + "episode_index": 376, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with blue print, rotate it, place it down, and hang it onto the metal rack with the right arm.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..80905e6ab4c1863e079839e393e9adfb1095f133 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000377.json @@ -0,0 +1,89 @@ +{ + "episode_index": 377, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical black mug, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..0c56ee7d3c97b953c2db500ba7e37b4c3b0ca630 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000378.json @@ -0,0 +1,89 @@ +{ + "episode_index": 378, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with side handle, rotate it, place it in the middle, and hang it onto the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..97839cfe9625bf6ac757495d8a80716c8d7d17fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000379.json @@ -0,0 +1,89 @@ +{ + "episode_index": 379, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle, rotate it, set it on the table's center, then hang it onto the dark gray rack.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..cc351bbde73aa9ac1731606dfe8f38733d4607f0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000380.json @@ -0,0 +1,89 @@ +{ + "episode_index": 380, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the white mug with glossy finish, turn it, place it, then hang on the smooth dark gray rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..df5adfa5372067a41750c17f48f6f4c079d2307e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000381.json @@ -0,0 +1,89 @@ +{ + "episode_index": 381, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium black mug with handle using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..a47511f6310ed474fc9fd0af1ee0f91ac9a6c6ff --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000382.json @@ -0,0 +1,88 @@ +{ + "episode_index": 382, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the ceramic mug, turn it, place it centrally, then hang the ceramic mug onto the angular rack with slanted support rod.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 145, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 146, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..372fe53a3b56b9e5aa3a01fa6436a551b75b0ef5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000383.json @@ -0,0 +1,89 @@ +{ + "episode_index": 383, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side, rotate it, place it in the center, then hang it on the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..518b10c033ab7e04902f1a29915ace282c7e91e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000384.json @@ -0,0 +1,89 @@ +{ + "episode_index": 384, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, and hang it onto the dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf7bb8efbe853909f22d44c1a5383b85b8d2ae5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000385.json @@ -0,0 +1,89 @@ +{ + "episode_index": 385, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..f9749765a48f3d9fc6cfc18993ef2512cbed57e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000386.json @@ -0,0 +1,89 @@ +{ + "episode_index": 386, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with blue print, rotate it, set it down, then hang the mug with blue print onto the rack with angular body.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..72d7a6c3ccb86bc3a2926c353a2e9a5d99203345 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000387.json @@ -0,0 +1,89 @@ +{ + "episode_index": 387, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..22ac2f9576bf1df6746b5dfb73c72a3b0a2aa1cb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000388.json @@ -0,0 +1,89 @@ +{ + "episode_index": 388, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the light beige ceramic drinking mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..61467d1f39188c5cd32653984b18e5fdbdcb2f3f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000389.json @@ -0,0 +1,89 @@ +{ + "episode_index": 389, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the round mug with one handle from the table, rotate it, place it in the center, then hang it onto the medium rack with protruding rods.", + "num_frames": 356, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 77, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 78, + "end_frame": 150, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 151, + "end_frame": 241, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 242, + "end_frame": 355, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 330, + "arm": "right", + "kind": "open", + "start_frame": 323, + "end_frame": 337 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..669e4ccae9618bcaae84a7de42871d06520875d2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000390.json @@ -0,0 +1,89 @@ +{ + "episode_index": 390, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the bright blue coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..43cf2fb5bbe20ab7cfad6c9c6c47219e6b2d54a8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000391.json @@ -0,0 +1,89 @@ +{ + "episode_index": 391, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with cartoon design, turn it around, put it back, then attach it to the rack with two rods sticking out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..73361ba82e5c3ed4e6b057a531ebebed571d9fe4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000392.json @@ -0,0 +1,89 @@ +{ + "episode_index": 392, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..31e4935b3c7d40f9b277b1271abc794fd93df23b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000393.json @@ -0,0 +1,89 @@ +{ + "episode_index": 393, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the brown mug for drinking, turn it, place it centrally, then hang the brown mug for drinking onto the metal rack.", + "num_frames": 380, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 94, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 95, + "end_frame": 159, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 160, + "end_frame": 266, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 267, + "end_frame": 379, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 79, + "arm": "left", + "kind": "close", + "start_frame": 72, + "end_frame": 86 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + }, + { + "frame": 250, + "arm": "right", + "kind": "close", + "start_frame": 243, + "end_frame": 257 + }, + { + "frame": 350, + "arm": "right", + "kind": "open", + "start_frame": 343, + "end_frame": 357 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..f0de4dedba812136ad9a1827ccb502d2f7b2cf1a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000394.json @@ -0,0 +1,89 @@ +{ + "episode_index": 394, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium-sized smooth green Starbucks mug, rotate it, place it in the center, then hang it on the dark gray rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..dac09980639941e65ca60ce2940372d659b479ea --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000395.json @@ -0,0 +1,89 @@ +{ + "episode_index": 395, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug glossy ceramic material, turn it around, put it back, then attach it to the medium rack with protruding rods.", + "num_frames": 361, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 242, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 243, + "end_frame": 360, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 226, + "arm": "right", + "kind": "close", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 331, + "arm": "right", + "kind": "open", + "start_frame": 324, + "end_frame": 338 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..325770b920788eb080e1c68697e89e8f074ddb1c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000396.json @@ -0,0 +1,89 @@ +{ + "episode_index": 396, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the hand-sized ceramic cylindrical mug, rotate it, set it down, then hang on the metallic rack with smooth finish.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 346, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..fe26fbbf95bda09c0ed8dd1dd49adb8c1d224adf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000397.json @@ -0,0 +1,89 @@ +{ + "episode_index": 397, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth white mug, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 232, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 233, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..01d257a3287aceac52f2ca6611a80bc9c794b88a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000398.json @@ -0,0 +1,89 @@ +{ + "episode_index": 398, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with handle, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..11935f196011d015ca6685d54c4282eee8378a17 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000399.json @@ -0,0 +1,89 @@ +{ + "episode_index": 399, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the green mug with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..576246fdd195287ca17685c28300c38206cc9f24 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000400.json @@ -0,0 +1,89 @@ +{ + "episode_index": 400, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with rounded base from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..6c712c7226cfbdd57910fb81acbee1d5a8984a0e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000401.json @@ -0,0 +1,89 @@ +{ + "episode_index": 401, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown medium-sized ceramic mug, rotate it, place it down, and hang it onto the dark gray angled rack with the right arm.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 234, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 235, + "end_frame": 351, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..083f0430292a0ff7df5b6fb6cd0306a30dc3ee3d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000402.json @@ -0,0 +1,89 @@ +{ + "episode_index": 402, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the basic mug in solid white, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..c544f338bc01ba94686b52490699f2bb2cfdbdfa --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000403.json @@ -0,0 +1,89 @@ +{ + "episode_index": 403, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for drinking liquids, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8d3f9b3caf161d92addcf3f5c9988a511e9e81 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000404.json @@ -0,0 +1,89 @@ +{ + "episode_index": 404, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the starbucks green mug, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3cfe1325f2b5c816ae179f25cfa421f1b87d92 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000405.json @@ -0,0 +1,89 @@ +{ + "episode_index": 405, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the green drinking mug, rotate it, place it, then hang it onto the rack with two rods sticking out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..d1b4030db739571c8c41039b6d1e1bdcf9213f0e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000406.json @@ -0,0 +1,89 @@ +{ + "episode_index": 406, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the ceramic mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down.", + "num_frames": 388, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 387, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbfcb3d7bc7b788c80b04f3763b23d0b15bd330 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000407.json @@ -0,0 +1,89 @@ +{ + "episode_index": 407, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..ad4edeac0c06a973adc557dfabdff43b0b98fb9c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000408.json @@ -0,0 +1,89 @@ +{ + "episode_index": 408, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the medium beige mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 345, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..6efdaa6a8bc7fdee3d42f40923d75b72dd426cb5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000409.json @@ -0,0 +1,89 @@ +{ + "episode_index": 409, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with blue design from the table using one hand, rotate, and hang it on the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..85b315cb1296928cea6062178863e133cb4ac79f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000410.json @@ -0,0 +1,89 @@ +{ + "episode_index": 410, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug, rotate it, place it, then hang it onto the angled rack with long and short rods.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..888bd0232aba8b04df32b047695d8596f8acc1d1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000411.json @@ -0,0 +1,89 @@ +{ + "episode_index": 411, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the starbucks green mug, give it a turn, and hang it onto the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..a96f236ff9e8f08181453357c81a946fe7685d8d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000412.json @@ -0,0 +1,89 @@ +{ + "episode_index": 412, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the basic mug in solid white, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..a06145c94970e4a78a099fe8e612a830ff714215 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000413.json @@ -0,0 +1,89 @@ +{ + "episode_index": 413, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3b3cf1ed15859b0a9467d26164b983ceea266f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000414.json @@ -0,0 +1,89 @@ +{ + "episode_index": 414, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the light brown mug with handle, turn it, place it, then hang on the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..f9bf0cb3b8992ebc6fb5c0ad430311ae4fb2ec63 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000415.json @@ -0,0 +1,89 @@ +{ + "episode_index": 415, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with logo design on side from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..458a8688788716c6ec5d5689308c9ab7f8ae0ca9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000416.json @@ -0,0 +1,89 @@ +{ + "episode_index": 416, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with prints from the table, spin it, place it in the center, then hang it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..6df0ab94bc6dfe0e374eb538489f39f6b5d48b45 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000417.json @@ -0,0 +1,89 @@ +{ + "episode_index": 417, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the palm-sized mug glossy black body from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..27d722aa55755b3007e976a79664fe7e19e9c4a9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000418.json @@ -0,0 +1,89 @@ +{ + "episode_index": 418, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the glossy black mug medium-sized for drinking, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..f731b9c6a7a949b28d75b1e36e162186bd5e9344 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000419.json @@ -0,0 +1,89 @@ +{ + "episode_index": 419, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the solid black ceramic mug from the table, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..951d7a663748ba1887b57e03e41f017f213ecb87 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000420.json @@ -0,0 +1,89 @@ +{ + "episode_index": 420, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with thick sturdy handle, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..a1d745f1809b8bc355ac674c9eea044192186f00 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000421.json @@ -0,0 +1,89 @@ +{ + "episode_index": 421, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, twist it, set it back, and secure it onto the smooth rack.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 142, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 143, + "end_frame": 233, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 234, + "end_frame": 350, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..857ddd0fd0ed71fc26e5e7a49cead3ac601cb978 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000422.json @@ -0,0 +1,89 @@ +{ + "episode_index": 422, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug with smooth surface, rotate it, set it down, then hang the black mug with smooth surface onto the dark gray angled rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..3df299c2e6e826b2633618e9257ee0d107ee63e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000423.json @@ -0,0 +1,89 @@ +{ + "episode_index": 423, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with glossy texture, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..4e01323e1b3c9610ecda1b6f68c1bc5f3021819d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000424.json @@ -0,0 +1,89 @@ +{ + "episode_index": 424, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..90f91cb041afe6e34dbd677bcd27ebfc74a1a191 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000425.json @@ -0,0 +1,89 @@ +{ + "episode_index": 425, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the white mug with glossy finish, rotate it, place it down, then your right arm to hang it onto the medium rack with protruding rods.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..bcbc12869e560382feee62cc5716c1711d031046 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000426.json @@ -0,0 +1,89 @@ +{ + "episode_index": 426, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the Starbucks branded coffee mug, turn it, place it centrally, then hang the Starbucks branded coffee mug onto the angled rack with long and short rods.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..f2560da4af469cab4eb2955d472527e1b14b4fac --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000427.json @@ -0,0 +1,89 @@ +{ + "episode_index": 427, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with yellow chicken image, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..8b318f6baaacbacb83bc02c0ddaded892598a391 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000428.json @@ -0,0 +1,89 @@ +{ + "episode_index": 428, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the bright blue coffee mug, rotate it, put it down, then hook onto the rack with two rods sticking out.", + "num_frames": 363, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 241, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 242, + "end_frame": 362, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 334, + "arm": "right", + "kind": "open", + "start_frame": 327, + "end_frame": 341 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..270e0f27b03a42589df3535e777323ef7856a221 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000429.json @@ -0,0 +1,89 @@ +{ + "episode_index": 429, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized mug with blue artwork from the table, turn it, set it down, and attach it to the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..c84988f80eb11e2c409f743d33df358882e59882 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000430.json @@ -0,0 +1,89 @@ +{ + "episode_index": 430, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug used for drinks, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..641eed6ca9430c2cc81157f7bec691cd260ad488 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000431.json @@ -0,0 +1,89 @@ +{ + "episode_index": 431, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth ceramic beige mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..c513cb044fcde91bc1f46c29ec9917f0a1baf655 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000432.json @@ -0,0 +1,89 @@ +{ + "episode_index": 432, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug shiny black exterior, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 134, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 135, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 325, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..e619e38253072417593612b0e6467e8120818266 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000433.json @@ -0,0 +1,89 @@ +{ + "episode_index": 433, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy texture from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..5983314baca73327a28a3eed44c0980252087fba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000434.json @@ -0,0 +1,89 @@ +{ + "episode_index": 434, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with glossy beige finish, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..43586a5bfe5b89cc711c7fc3de434266f35b5680 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000435.json @@ -0,0 +1,89 @@ +{ + "episode_index": 435, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, turn it around, put it back, then attach it to the medium rack with protruding rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..35b39fb7535003318380c0e1b4519e8beb4bd120 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000436.json @@ -0,0 +1,89 @@ +{ + "episode_index": 436, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..ae121ebf4d4fb866c903762a65407f3de758ab18 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000437.json @@ -0,0 +1,89 @@ +{ + "episode_index": 437, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with curved handle from the table, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..3da14c2fb96806af62f612e21edb390b87e741b4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000438.json @@ -0,0 +1,89 @@ +{ + "episode_index": 438, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug for hot drinks, rotate it, set it down, then hang the ceramic mug for hot drinks onto the metallic angular rack with rod pair.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 369, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..271169579be30ba78166b9bd4c65dc7596cd4efc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000439.json @@ -0,0 +1,89 @@ +{ + "episode_index": 439, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the black mug glossy ceramic material, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 363, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 240, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 241, + "end_frame": 362, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 224, + "arm": "right", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 332, + "arm": "right", + "kind": "open", + "start_frame": 325, + "end_frame": 339 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..1b735ea705c4271fe0635e8eae601602fcf62c5d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000440.json @@ -0,0 +1,89 @@ +{ + "episode_index": 440, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light beige ceramic drinking mug using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..601bb93803c5644bd13b77183e03a49a87ed95fc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000441.json @@ -0,0 +1,89 @@ +{ + "episode_index": 441, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the dark gray rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..84ace70e8c0948846e46e49fdcc1f4604f944ef2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000442.json @@ -0,0 +1,89 @@ +{ + "episode_index": 442, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug, rotate it, set it down, then hang the ceramic mug onto the rack with angular body.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0845cc7539d182a076496e142ac5f06dce903b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000443.json @@ -0,0 +1,89 @@ +{ + "episode_index": 443, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with curved black handle from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..4824e8a357d87e6bfca1583e532c52e5d09ee9d0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000444.json @@ -0,0 +1,89 @@ +{ + "episode_index": 444, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug from the table, turn it, set it down, and attach it to the medium rack with protruding rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5af492ec6905a3c42a2d5245afc0d85c6455ae --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000445.json @@ -0,0 +1,89 @@ +{ + "episode_index": 445, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..a03dfc13a9cffb0a880600efe4f5274cfb34b3bf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000446.json @@ -0,0 +1,89 @@ +{ + "episode_index": 446, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium black mug with handle, rotate it, place it on the table, and hook it onto the rack with angular body.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 236, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 237, + "end_frame": 344, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..6b06ff4580aa400ff77f028e08b27ef4d8faebde --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000447.json @@ -0,0 +1,89 @@ +{ + "episode_index": 447, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light beige drinking mug with one arm, rotate it, and hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..6d668e5d60256e8f4bc8593cc8beb601ff8b9b23 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000448.json @@ -0,0 +1,89 @@ +{ + "episode_index": 448, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug for hot drinks, flip it, set it down, and then attach it to the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f2567ce6a1ee04a7e3d6c35691427ea6e989be --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000449.json @@ -0,0 +1,89 @@ +{ + "episode_index": 449, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth black ceramic mug, rotate it, set it down, then hang the smooth black ceramic mug onto the smooth rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..d40527e3dc4ca053731f0bca933d59c16c2adc1e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000450.json @@ -0,0 +1,89 @@ +{ + "episode_index": 450, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with thick sturdy handle, twist it, set it back, and secure it onto the rack with angular body.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..0f9b96d46dbcfdafdad8b27a6a89b5a6757597bb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000451.json @@ -0,0 +1,89 @@ +{ + "episode_index": 451, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige ceramic drinking mug, flip it, set it down, and then attach it to the smooth rack.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 230, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 231, + "end_frame": 347, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfc307c5e52ea2b10939d2cf2596314af13055f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000452.json @@ -0,0 +1,89 @@ +{ + "episode_index": 452, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige drinking mug, rotate it, set it down, then hang the light beige drinking mug onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..36a32b7c755d138b75c2bda416b66218b0e55587 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000453.json @@ -0,0 +1,89 @@ +{ + "episode_index": 453, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium-sized smooth green Starbucks mug, give it a turn, and hang it onto the medium rack with protruding rods.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 222, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 223, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..017813129025545bdbea054a69761dbe817feaec --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000454.json @@ -0,0 +1,89 @@ +{ + "episode_index": 454, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug from the table, turn it, put it down in the middle, then hang it onto the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 67, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 68, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..2c409199eedcab28e2a11217cbdd0ba67fac11be --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000455.json @@ -0,0 +1,88 @@ +{ + "episode_index": 455, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the round mug with curved handle, turn it around, put it back, then attach it to the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 78, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 79, + "end_frame": 153, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 154, + "end_frame": 243, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 244, + "end_frame": 349, + "boundary_source": "episode_end", + "truncation_rule": "episode_end" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 227, + "arm": "right", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..b2037e3e894b7812e28744be6da1ea5201543c56 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000456.json @@ -0,0 +1,89 @@ +{ + "episode_index": 456, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown mug for drinking, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 75, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 76, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 232, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 233, + "end_frame": 336, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..495d6ea9775ecd8b3a75697a329ab5f8fe41987c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000457.json @@ -0,0 +1,89 @@ +{ + "episode_index": 457, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown mug, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..b9cd3506671596afdda47b6eb4ba70185b855b24 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000458.json @@ -0,0 +1,89 @@ +{ + "episode_index": 458, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug, rotate it, set it in the middle, then hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..f8bd0afb813a5a3616a84b97f57485d407d0b4fd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000459.json @@ -0,0 +1,89 @@ +{ + "episode_index": 459, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug, turn it, place it back, and move it onto the metal rack with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 229, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 230, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..7376cae43f5a40158e9eab215b52032dc373a190 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000460.json @@ -0,0 +1,89 @@ +{ + "episode_index": 460, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug, rotate it, place it on the table, and hook it onto the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..2f55282eb9d84a47aa1a5157d145cc41859e2d2f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000461.json @@ -0,0 +1,89 @@ +{ + "episode_index": 461, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the solid black ceramic mug, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 231, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 232, + "end_frame": 337, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..98cc136c60f5113e775d91b973be532e07c88d47 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000462.json @@ -0,0 +1,89 @@ +{ + "episode_index": 462, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the mug with blue print, turn it, place it centrally, then hang the mug with blue print onto the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 326, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..6f860d39fd40b230cb9be1a9061c192a577b4927 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000463.json @@ -0,0 +1,89 @@ +{ + "episode_index": 463, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the blue mug with solid texture, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 359, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 242, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 243, + "end_frame": 358, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 226, + "arm": "right", + "kind": "close", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..c63cd528dec638c078f02a3014a07dc72179393d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000464.json @@ -0,0 +1,89 @@ +{ + "episode_index": 464, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f278a5c949a749456248f8050c2ba898f91456 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000465.json @@ -0,0 +1,89 @@ +{ + "episode_index": 465, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the cylindrical blue mug, turn it around, put it back, then attach it to the smooth rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 144, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 145, + "end_frame": 241, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 242, + "end_frame": 349, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..5a59f7cd7c8934e3f1d61777c220973fb99f34da --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000466.json @@ -0,0 +1,89 @@ +{ + "episode_index": 466, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug for hot drinks, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 140, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 141, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..03c09d792e2f6b13007b8a8abf1c082a636fae77 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000467.json @@ -0,0 +1,89 @@ +{ + "episode_index": 467, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the beige mug used for drinks, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..4c17e59771ab2c62c97e40a58afa5032a2d5edda --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000468.json @@ -0,0 +1,89 @@ +{ + "episode_index": 468, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..6cc12d3f336d9db6abb5f246695355c9e274393d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000469.json @@ -0,0 +1,89 @@ +{ + "episode_index": 469, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..7613037d01bbe5ecdc54e8597dcb1bcdfbedb936 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000470.json @@ -0,0 +1,89 @@ +{ + "episode_index": 470, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium white mug with handle, rotate it, put it down in the table's center, then hang it onto the metal rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..f3661c0d3282c702769f15e3b64339c02d6b41ce --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000471.json @@ -0,0 +1,89 @@ +{ + "episode_index": 471, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the medium beige mug, rotate it, set it down, and hang it onto the angular rack with slanted support rod.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 221, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 222, + "end_frame": 323, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..c7331e816692d7c3e8f6d8083252bae1ddaa781e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000472.json @@ -0,0 +1,89 @@ +{ + "episode_index": 472, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 146, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 147, + "end_frame": 238, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 239, + "end_frame": 356, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..d3908216f0df642522320ff803894a5e07b51eb8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000473.json @@ -0,0 +1,89 @@ +{ + "episode_index": 473, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3d67f5ad3127564961c9dcc6aec79a3562300b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000474.json @@ -0,0 +1,89 @@ +{ + "episode_index": 474, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the palm-sized mug glossy black body from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 74, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 75, + "end_frame": 143, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 144, + "end_frame": 235, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 236, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..8553345514497fed45bde3e797f6bff163bb4610 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000475.json @@ -0,0 +1,89 @@ +{ + "episode_index": 475, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with logo design on side, rotate it, set it down, then hang on the dark gray angled rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 133, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 134, + "end_frame": 217, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 218, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 118, + "arm": "left", + "kind": "open", + "start_frame": 111, + "end_frame": 125 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..ee81d3713dc55e5981b1fe08b06372e079fb3561 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000476.json @@ -0,0 +1,89 @@ +{ + "episode_index": 476, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical beige ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..34631cfdceb3d0bc76fe50e006f330ed8ae316b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000477.json @@ -0,0 +1,89 @@ +{ + "episode_index": 477, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the logo mug from the table, turn it, put it down in the middle, then hang it onto the smooth rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..48937f3ea6c1d0cd8443500de0531219c1b4ef81 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000478.json @@ -0,0 +1,89 @@ +{ + "episode_index": 478, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the medium mug with handle, turn it, place it centrally, then hang the medium mug with handle onto the metallic rack with smooth finish.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 72, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 73, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..e344c4f5d7ca9f77d65b52a98ea741a272fd54e0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000479.json @@ -0,0 +1,89 @@ +{ + "episode_index": 479, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the curved handle mug, give it a turn, and hang it onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 219, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 220, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..51e7ce836be576d2e14b777703c755074e4be7a4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000480.json @@ -0,0 +1,89 @@ +{ + "episode_index": 480, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium mug with smooth texture from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..40ea76b200498b965fe7abed7338e96c330fb362 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000481.json @@ -0,0 +1,89 @@ +{ + "episode_index": 481, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug smooth beige surface, rotate it, place it, then hang it onto the rack with two rods sticking out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 333, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..36d30f1ff1ad23f58ea651ec1ac98239af650cdc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000482.json @@ -0,0 +1,89 @@ +{ + "episode_index": 482, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with prints, turn it around, set it in the middle, and place it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c569796dd8fb2455ea8fb1d5da98882e68cf52 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000483.json @@ -0,0 +1,89 @@ +{ + "episode_index": 483, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the drinking mug shiny black exterior, rotate it, place it back on the table, and hang it on the angular rack with slanted support rod afterward.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 334, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..5b1be4a959617642070225bf336095bb9a2700aa --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000484.json @@ -0,0 +1,89 @@ +{ + "episode_index": 484, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige mug from the table, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 341, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..cc21f7b4d053b3de2d5a11353eff926ef6fab7c9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000485.json @@ -0,0 +1,89 @@ +{ + "episode_index": 485, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the black mug with smooth surface, turn it, place it down, and hang it on the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 71, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 72, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 225, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 226, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..e77c6ae23062119c65e89800d3c57f01388f03ea --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000486.json @@ -0,0 +1,89 @@ +{ + "episode_index": 486, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug made of ceramic, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 328, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..61a4483ca651d1b8aef27d0dde0c9dc172a784f1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000487.json @@ -0,0 +1,89 @@ +{ + "episode_index": 487, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the white mug with glossy finish, turn it, set it centrally, and use the other to hang it onto the rack with angular body.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 136, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 137, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 332, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..d9172fb72dacc1c59f5507146bac9a2d6d02645f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000488.json @@ -0,0 +1,89 @@ +{ + "episode_index": 488, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it in the middle, and hang it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 138, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 139, + "end_frame": 223, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 224, + "end_frame": 329, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f73c337e585339dfe311b8d940d669e3eff8a9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000489.json @@ -0,0 +1,89 @@ +{ + "episode_index": 489, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the cylindrical coffee mug with handle, rotate it, place it, then hang it onto the smooth rack.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 68, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 69, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 220, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 221, + "end_frame": 321, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 292, + "arm": "right", + "kind": "open", + "start_frame": 285, + "end_frame": 299 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..a19fa9bbaef4868783236bdd126be4a2c04e6a6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000490.json @@ -0,0 +1,89 @@ +{ + "episode_index": 490, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with cartoon design, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 331, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..e10ae5569fdecdeb6c9b98f67a29cf8270bd6b28 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000491.json @@ -0,0 +1,89 @@ +{ + "episode_index": 491, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with rounded handle, twist it, set it back, and secure it onto the angled rack with long and short rods.", + "num_frames": 374, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 135, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 136, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 373, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4e8f578c2a86dc0f0a8a14515bdb5e20f6039a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000492.json @@ -0,0 +1,89 @@ +{ + "episode_index": 492, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, turn it around, put it back, then attach it to the rack with two rods sticking out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..cda775979e8a3eadc748f1a599002ae1d3e2e772 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000493.json @@ -0,0 +1,89 @@ +{ + "episode_index": 493, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with side handle, flip it, set it down, and then attach it to the medium rack with protruding rods.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 339, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..e23a9945cc9c5c3049ebc3aef541ed0894478891 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000494.json @@ -0,0 +1,89 @@ +{ + "episode_index": 494, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light beige drinking mug, twist it, set it back, and secure it onto the rack with two rods sticking out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 330, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..a5bd1e87092f47b786e062b6f667cc15dc95b974 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000495.json @@ -0,0 +1,89 @@ +{ + "episode_index": 495, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 73, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 74, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 343, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee90c54e32571851b18aa36250d34c89a3fdb28 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000496.json @@ -0,0 +1,89 @@ +{ + "episode_index": 496, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with thick sturdy handle, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 137, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 138, + "end_frame": 228, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 229, + "end_frame": 340, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb16d873fb4935215a78833e7bd1f5deddbc9ea --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000497.json @@ -0,0 +1,89 @@ +{ + "episode_index": 497, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the medium light mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 224, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 225, + "end_frame": 327, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..d4eddaeaca7d669e5f591b0797c10e5e781952af --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000498.json @@ -0,0 +1,89 @@ +{ + "episode_index": 498, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle, rotate it, set it on the table's center, then hang it onto the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 70, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 71, + "end_frame": 141, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 142, + "end_frame": 226, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 227, + "end_frame": 338, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..c665e91bcaf672a52aad069895d93ef1bc700527 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000499.json @@ -0,0 +1,89 @@ +{ + "episode_index": 499, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 0, + "end_frame": 69, + "boundary_source": "after_gripper_left_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "single_place", + "start_frame": 70, + "end_frame": 139, + "boundary_source": "after_gripper_left_open", + "truncation_rule": "gripper_open", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 2, + "subtask_goal": "Grasp the mug.", + "subtask_type": "single_grasp", + "start_frame": 140, + "end_frame": 227, + "boundary_source": "after_gripper_right_close", + "truncation_rule": "gripper_close", + "gap_fill_policy": "extended_to_next_subtask_start" + }, + { + "subtask_index": 3, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "single_place", + "start_frame": 228, + "end_frame": 335, + "boundary_source": "episode_end", + "truncation_rule": "episode_end", + "gap_fill_policy": "extended_to_next_subtask_start" + } + ], + "metadata": { + "annotation_version": "robotwin_vlm_coarse_v1", + "annotation_granularity": "coarse", + "gripper_threshold": 0.5, + "alignment_policy": "coarse motion segments with at most one terminal gripper event", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + } + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000000.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..57a689d3187aaf37e4b99881b430fedb0c2718c4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000000.json @@ -0,0 +1,70 @@ +{ + "episode_index": 0, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the ceramic mug with cartoons, rotate it, set it down, then hang on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000001.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..04c8dfd41acd3caac449a771a9fc1804737f4c81 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000001.json @@ -0,0 +1,70 @@ +{ + "episode_index": 1, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug, give it a turn, and hang it onto the smooth rack.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000002.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..623e7b62daa3f1c728f81e1e0186102551a36073 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000002.json @@ -0,0 +1,70 @@ +{ + "episode_index": 2, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 371, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 370, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000003.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d89cb181424eec9d0ccafd1aef04a574546f39d6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000003.json @@ -0,0 +1,70 @@ +{ + "episode_index": 3, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the curved handle mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000004.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..91a7d008c32089f0dc8b6f7902a0ff4e866e4bb0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000004.json @@ -0,0 +1,70 @@ +{ + "episode_index": 4, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it in the middle, and hang it onto the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000005.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..599014d0fc6d2f9c378dc43399529285261ece57 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000005.json @@ -0,0 +1,70 @@ +{ + "episode_index": 5, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000006.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..17968d5dab063049b9f3316449c392957c49c60b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000006.json @@ -0,0 +1,70 @@ +{ + "episode_index": 6, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-sized mug with blue artwork from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000007.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..76cb96d4777f77a007c43e2947c7a30fa6eb63c6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000007.json @@ -0,0 +1,70 @@ +{ + "episode_index": 7, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with glossy texture, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000008.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..6f43c8df51095664990acb0f5075ef8e0cb666bf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000008.json @@ -0,0 +1,70 @@ +{ + "episode_index": 8, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000009.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..59d2673c66817b39140f6eb0c62874a1780fb391 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000009.json @@ -0,0 +1,70 @@ +{ + "episode_index": 9, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the light beige ceramic drinking mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000010.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3e073c7741c8381574ad3fa385fd2d90835298 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000010.json @@ -0,0 +1,70 @@ +{ + "episode_index": 10, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug for liquids from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000011.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..af393de2cb20121612c3d292a37ab8ac1b296b6f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000011.json @@ -0,0 +1,70 @@ +{ + "episode_index": 11, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the basic mug in solid white, rotate it, put it down, then hook onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000012.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..cb97c1c377a318a9c1ec423edacf998e70d43116 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000012.json @@ -0,0 +1,70 @@ +{ + "episode_index": 12, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the printed white ceramic mug, rotate it, set it in the middle, then hang it on the metal rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000013.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..f64d6d6470073b838b2da84227aede5334e749e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000013.json @@ -0,0 +1,70 @@ +{ + "episode_index": 13, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000014.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..7f13b392b14dd44bf05d8cc8e5f1412dbeca7534 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000014.json @@ -0,0 +1,70 @@ +{ + "episode_index": 14, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug shiny black exterior, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000015.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..36dd63b67bfafe44dcc0ae38c99b4bf0654af2a0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000015.json @@ -0,0 +1,70 @@ +{ + "episode_index": 15, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the cylindrical mug with black finish, turn it, place it, then hang on the metallic rack with smooth finish.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000016.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd091e6321b50bdc0173567a61288d1de9c26c9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000016.json @@ -0,0 +1,70 @@ +{ + "episode_index": 16, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with logo design on side, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000017.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..71d94369c4881dc0f23e50daa4b85057490b0690 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000017.json @@ -0,0 +1,70 @@ +{ + "episode_index": 17, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with logo design on side from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000018.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..98ea140b400dfd97122e1e551782df1ab0bf309c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000018.json @@ -0,0 +1,70 @@ +{ + "episode_index": 18, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the light beige drinking mug, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000019.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..92a43bcfff7e3aef28b7aa38cf4fb09a3dfe8d60 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000019.json @@ -0,0 +1,70 @@ +{ + "episode_index": 19, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug, twist it, set it back, and secure it onto the dark gray angled rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000020.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a6f1cb888cfda26f8b9e4aae77c88831fee6d7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000020.json @@ -0,0 +1,70 @@ +{ + "episode_index": 20, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy mug for beverages from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000021.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..e4686563ef5cb42941d0c50b6e58a9e0ba5fb150 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000021.json @@ -0,0 +1,70 @@ +{ + "episode_index": 21, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium beige mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000022.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f17c33ff29268d69a279c2dcef5bca499ea605 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000022.json @@ -0,0 +1,70 @@ +{ + "episode_index": 22, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with prints from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000023.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..124ecc59a9d09bbbef867f006f3b8f9b5c8b0b46 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000023.json @@ -0,0 +1,70 @@ +{ + "episode_index": 23, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug smooth beige surface, turn it around, put it back, then attach it to the dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000024.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..7f55a4df4384b7200fcbd563aac04188361a0f07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000024.json @@ -0,0 +1,70 @@ +{ + "episode_index": 24, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug with printed logo from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 376, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 375, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 229, + "arm": "right", + "kind": "close", + "start_frame": 222, + "end_frame": 236 + }, + { + "frame": 341, + "arm": "right", + "kind": "open", + "start_frame": 334, + "end_frame": 348 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000025.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..423c64e8284684ba720e1adea62ded581f07da07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000025.json @@ -0,0 +1,70 @@ +{ + "episode_index": 25, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000026.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d4c2ecda8df3b5552feae57e22f135a57a8c1b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000026.json @@ -0,0 +1,70 @@ +{ + "episode_index": 26, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the smooth white mug using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 345, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000027.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccf05f3cdb3fccf422cbe2b7c2ceb5a6e74224f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000027.json @@ -0,0 +1,70 @@ +{ + "episode_index": 27, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the drinking mug, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000028.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..4d2c9241254bb898380259d1895395655cbeef54 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000028.json @@ -0,0 +1,70 @@ +{ + "episode_index": 28, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle with one arm, rotate it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000029.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..c4fa496dfd3456b745d3e2ad1193279b991fe6c6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000029.json @@ -0,0 +1,70 @@ +{ + "episode_index": 29, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000030.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..6c083dec78f543034410bfed868d15dd4696314f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000030.json @@ -0,0 +1,70 @@ +{ + "episode_index": 30, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the beige mug polished ceramic build, turn it, place it, then hang on the rack with angular body.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000031.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..5b888bf4bacf0b4a1a898df999230de854dcde9a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000031.json @@ -0,0 +1,70 @@ +{ + "episode_index": 31, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with yellow chicken image, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000032.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..591ff79e7df49a74af52cb5dc2d43bd916b0d1fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000032.json @@ -0,0 +1,70 @@ +{ + "episode_index": 32, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium-sized smooth green Starbucks mug, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000033.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..3fcc8f61f945249df00f4e2196c1e28efc5e4839 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000033.json @@ -0,0 +1,70 @@ +{ + "episode_index": 33, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the medium beige mug, turn it, place it centrally, then hang the medium beige mug onto the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000034.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..c543c529d30712659baa0784dfed7e28ef1d3e4e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000034.json @@ -0,0 +1,70 @@ +{ + "episode_index": 34, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with curved black handle, turn it, put it in the center, and transfer it to the metal rack.", + "num_frames": 390, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 389, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000035.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc246ab6031a14ad73c7829f394d8b717aa4027 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000035.json @@ -0,0 +1,70 @@ +{ + "episode_index": 35, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium-sized smooth green Starbucks mug, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000036.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..ce9e62252dd9fed0c5b7f68e4de6909a2ca07ab9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000036.json @@ -0,0 +1,70 @@ +{ + "episode_index": 36, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with rounded sturdy handle from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000037.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b24cf50f5e1212c7232b5b53ed018c783254b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000037.json @@ -0,0 +1,70 @@ +{ + "episode_index": 37, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, twist it, set it back, and secure it onto the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000038.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..5d29f569b3788b1f382e0113e81528d18952c78d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000038.json @@ -0,0 +1,70 @@ +{ + "episode_index": 38, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white ceramic mug with handle, turn it, put it in the center, and transfer it to the medium rack with protruding rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000039.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf69f8adc35ef1d023177eb1fe153e7cc0842c8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000039.json @@ -0,0 +1,70 @@ +{ + "episode_index": 39, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug with glossy finish, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000040.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4772b4a4ce03913fe84478fe0c02af3f98c28b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000040.json @@ -0,0 +1,70 @@ +{ + "episode_index": 40, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical beige ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000041.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..74ab96c2e31b5ade156e472ca1d29e6af83c356c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000041.json @@ -0,0 +1,70 @@ +{ + "episode_index": 41, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the basic mug in solid white, rotate it, set it on the table's center, then hang it onto the dark gray rack.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 369, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000042.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2a694e0781e65c76d3fae779638de7eecc9d6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000042.json @@ -0,0 +1,70 @@ +{ + "episode_index": 42, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the colorful cartoon mug, rotate it, place it in the center, then hang it on the smooth dark gray rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000043.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fff709f4fbc8f283dbca43a3b69d667679c916 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000043.json @@ -0,0 +1,70 @@ +{ + "episode_index": 43, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with rounded handle from the table using one hand, rotate, and hang it on the metal rack.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 351, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000044.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..206138ff08aa64603294920a608b1311f87fe35b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000044.json @@ -0,0 +1,70 @@ +{ + "episode_index": 44, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the colorful cartoon mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000045.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..21201c509ee168a338b192b21531ef494567d008 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000045.json @@ -0,0 +1,70 @@ +{ + "episode_index": 45, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the hand-sized black mug, rotate it, place it, then hang it onto the smooth rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000046.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..3ed6fee84264ca483c6114da009c3f9ab3de7c94 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000046.json @@ -0,0 +1,70 @@ +{ + "episode_index": 46, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light brown cylindrical mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.", + "num_frames": 367, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 154, + "end_frame": 366, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 230, + "arm": "right", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + }, + { + "frame": 339, + "arm": "right", + "kind": "open", + "start_frame": 332, + "end_frame": 346 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000047.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..7405e5d70c893b4083511cf49540222eaeab11b9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000047.json @@ -0,0 +1,70 @@ +{ + "episode_index": 47, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the brown mug for drinking, rotate it, set it down, and hang it onto the angled rack with long and short rods.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 147, + "end_frame": 356, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 327, + "arm": "right", + "kind": "open", + "start_frame": 320, + "end_frame": 334 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000048.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..20ea84cc4c061b8a9fb2cb0c42bbd89acd6e869d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000048.json @@ -0,0 +1,70 @@ +{ + "episode_index": 48, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium-sized smooth green Starbucks mug up, twist it, place it back, then hang it onto the smooth rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000049.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc89d259bba3540287ad878a18ba575f4dc7dfc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000049.json @@ -0,0 +1,70 @@ +{ + "episode_index": 49, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium mug with blue design, rotate it, place it on the table, and hook it onto the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000050.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..1caba0c704edb0cc1cf9e74c080a8b921f6f0e65 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000050.json @@ -0,0 +1,70 @@ +{ + "episode_index": 50, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug from the table using one hand, rotate, and hang it on the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000051.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..e593483c3709b88a88369f1248bed3cd6c6ecdd7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000051.json @@ -0,0 +1,70 @@ +{ + "episode_index": 51, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the cylindrical mug with curved handle, rotate it, set it down, then hang on the metallic angular rack with rod pair.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000052.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2ed4eabbda6fdffb7c27259a7c4ee44d00e0a2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000052.json @@ -0,0 +1,70 @@ +{ + "episode_index": 52, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the medium-sized mug, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000053.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..043f9d2d385b12fe6a74fbef79c4e34b7250fc14 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000053.json @@ -0,0 +1,70 @@ +{ + "episode_index": 53, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the palm-sized mug glossy black body, rotate it, set it down, then hang the palm-sized mug glossy black body onto the rack with two rods sticking out.", + "num_frames": 374, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 154, + "end_frame": 373, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 236, + "arm": "right", + "kind": "close", + "start_frame": 229, + "end_frame": 243 + }, + { + "frame": 344, + "arm": "right", + "kind": "open", + "start_frame": 337, + "end_frame": 351 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000054.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..8d5d67bebc91ae823961d788415b2daaf9a4a651 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000054.json @@ -0,0 +1,70 @@ +{ + "episode_index": 54, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium beige mug, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000055.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..19bb77b90d79c82cd5e0620070d4bb3a29a878c7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000055.json @@ -0,0 +1,70 @@ +{ + "episode_index": 55, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized ceramic mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.", + "num_frames": 372, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 371, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000056.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..9af9d395e99fc1d6dff53260c5988d2de255b65e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000056.json @@ -0,0 +1,70 @@ +{ + "episode_index": 56, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the mug with prints, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000057.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..4f374f48fc9168887a10e4532d8ed451de58cf29 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000057.json @@ -0,0 +1,70 @@ +{ + "episode_index": 57, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth white mug from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000058.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8aeddeb421ea8a392afaa9757df85357be5714 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000058.json @@ -0,0 +1,70 @@ +{ + "episode_index": 58, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug for hot drinks, rotate it, place it on the table, and hook it onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000059.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..6c5f0a2b36d4afb62b92fb3708a9239f43ebdabf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000059.json @@ -0,0 +1,70 @@ +{ + "episode_index": 59, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 347, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000060.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1af33c263069cfeb84569cc08d80e660725b8d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000060.json @@ -0,0 +1,70 @@ +{ + "episode_index": 60, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized ceramic cylindrical mug from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000061.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfe47dca4d344b67665088f190e422126767ae7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000061.json @@ -0,0 +1,70 @@ +{ + "episode_index": 61, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the Starbucks branded coffee mug, turn it, put it in the center, and transfer it to the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000062.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..ab776b7f0356c54f7f9b4970979d34ef498da9f6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000062.json @@ -0,0 +1,70 @@ +{ + "episode_index": 62, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy beige ceramic drinking mug from the table, rotate it, place it, and then hang it onto the rack with two rods sticking out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000063.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..20de85a00497d9e77f630dabdf721ae6b7f83cd2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000063.json @@ -0,0 +1,70 @@ +{ + "episode_index": 63, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium black mug with handle, flip it, set it down, and then attach it to the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000064.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..58055af3abe90ebccd0590a56ff8fc84e224f42a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000064.json @@ -0,0 +1,70 @@ +{ + "episode_index": 64, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, place it in the center, then hang it on the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000065.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..bed80e777c379343db37ce65721e09b846c3093a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000065.json @@ -0,0 +1,70 @@ +{ + "episode_index": 65, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the hand-sized mug with blue artwork, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000066.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..324dc8b229308b07ed5d54e08e54a69b4ca3303d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000066.json @@ -0,0 +1,70 @@ +{ + "episode_index": 66, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium black mug with handle, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000067.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f09cbde75d45e160b506e61c919122b4415252 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000067.json @@ -0,0 +1,70 @@ +{ + "episode_index": 67, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the cylindrical black mug, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000068.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..1c912e6deac37d144bec427444d94e2807087bb9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000068.json @@ -0,0 +1,70 @@ +{ + "episode_index": 68, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with handle from the table, rotate it, place it, and then hang it onto the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000069.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..9a924cc9b9f813cc8e6c38f24bdd946dbc0b1690 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000069.json @@ -0,0 +1,70 @@ +{ + "episode_index": 69, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it on the table, and hook it onto the metallic rack with smooth finish.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000070.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..16879045ed40cae818f1291461d61694a3db5e9f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000070.json @@ -0,0 +1,70 @@ +{ + "episode_index": 70, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the black mug with handle, rotate it, and attach it to the rack with two rods sticking out after setting it down.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000071.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..7292f2fd2b6cf55269ed14caf75456103bab2ee4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000071.json @@ -0,0 +1,70 @@ +{ + "episode_index": 71, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the green drinking mug, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000072.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..5408c0adba3afd2b9cb0bafe4f5fa9c3cadb0123 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000072.json @@ -0,0 +1,70 @@ +{ + "episode_index": 72, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with blue print from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000073.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..6fdbe5317165ed741d25379be1759fe1cca3f992 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000073.json @@ -0,0 +1,70 @@ +{ + "episode_index": 73, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium mug with handle from the table, rotate it, place it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000074.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3443700b27f8bdc1b46985d490d3c1a1bc055d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000074.json @@ -0,0 +1,70 @@ +{ + "episode_index": 74, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000075.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..a6e2c6e5756cd53b16b6d68844eede5db79fd260 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000075.json @@ -0,0 +1,70 @@ +{ + "episode_index": 75, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light brown mug with one arm, rotate it, and hang it onto the dark gray rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000076.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..da28ab30a7b688d602161bc26c8a62f767eff1e9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000076.json @@ -0,0 +1,70 @@ +{ + "episode_index": 76, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug polished ceramic build, rotate it, place it down, and hang it onto the metal rack with the right arm.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 149, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000077.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..d48f41e96ae60198736346a6304dc2f75620ede5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000077.json @@ -0,0 +1,70 @@ +{ + "episode_index": 77, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the mug with glossy texture, turn it, place it, then hang on the rack with angular body.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000078.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..2d936180f52f0894a438b31e2d41c80a52e38aab --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000078.json @@ -0,0 +1,70 @@ +{ + "episode_index": 78, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with curved black handle from the table, turn it, set it down, and attach it to the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000079.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..d6afe20d41cb509f0718022f64986668ce192c87 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000079.json @@ -0,0 +1,70 @@ +{ + "episode_index": 79, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 395, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 394, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000080.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..15a0750b8c43c1761ececb02ae98f3ff6a5d505d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000080.json @@ -0,0 +1,70 @@ +{ + "episode_index": 80, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug smooth beige surface, rotate it, place it in the middle, and hang it onto the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000081.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..a95fda60915a8f0785048a06e97f185ff17ec437 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000081.json @@ -0,0 +1,70 @@ +{ + "episode_index": 81, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000082.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..9280504301a9bed7da111cd321d69632b0333d06 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000082.json @@ -0,0 +1,70 @@ +{ + "episode_index": 82, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle with one arm, rotate it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000083.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..72adfd7ef4629e1743c4392935e002463d0e975d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000083.json @@ -0,0 +1,70 @@ +{ + "episode_index": 83, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug for drinking liquids, rotate it, and attach it to the smooth rack after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000084.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..eb24d9723259fb6811d3c353e60d9f969eef5a6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000084.json @@ -0,0 +1,70 @@ +{ + "episode_index": 84, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with loop handle, spin it, place it down, then use the right arm to hang it on the dark gray rack.", + "num_frames": 378, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 377, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000085.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ac8990bc8d187fe7343da2e80d36d9f13ca3e0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000085.json @@ -0,0 +1,70 @@ +{ + "episode_index": 85, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the palm-sized mug glossy black body from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000086.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..4da333aefa0d626a00d48dc7336e4b72216b8e02 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000086.json @@ -0,0 +1,70 @@ +{ + "episode_index": 86, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the palm-sized mug glossy black body, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000087.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..55709bb6fe877b6f310a6fc4a85d2e62ac5e720f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000087.json @@ -0,0 +1,70 @@ +{ + "episode_index": 87, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, turn it, place it back, and move it onto the dark gray angled rack with the right arm.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 326, + "arm": "right", + "kind": "open", + "start_frame": 319, + "end_frame": 333 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000088.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..e7059c45b2cb10ab635effc62a94e1ab84bb2a17 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000088.json @@ -0,0 +1,70 @@ +{ + "episode_index": 88, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the white mug, spin it, place it down, then use the right arm to hang it on the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000089.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..7b5d5b9f1aa7480c21a0dd9f779e5f6540ab837e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000089.json @@ -0,0 +1,70 @@ +{ + "episode_index": 89, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the round mug with one handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000090.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..9365a9d36cd28e6334926e49fc9fcdd3ecb6d521 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000090.json @@ -0,0 +1,70 @@ +{ + "episode_index": 90, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the dark green ceramic cup, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000091.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc321fab4df1d7d36a0db5366bff7371d881fd9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000091.json @@ -0,0 +1,70 @@ +{ + "episode_index": 91, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the medium mug with smooth texture, rotate it, set it down, and hang it onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000092.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..39608f8478b2a554ffa260b4c5e690090fdb82df --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000092.json @@ -0,0 +1,70 @@ +{ + "episode_index": 92, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium mug fits in hand from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000093.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3150ac62c67669cf3169ee6efd288e80156c23 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000093.json @@ -0,0 +1,70 @@ +{ + "episode_index": 93, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black coffee mug up, twist it, place it back, then hang it onto the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000094.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..506c0a63d134715f0c86f7e462fa7203557d5ec5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000094.json @@ -0,0 +1,70 @@ +{ + "episode_index": 94, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige ceramic mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000095.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2c6c0046c26556b2bca383cde6e6fdb0a0c34c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000095.json @@ -0,0 +1,70 @@ +{ + "episode_index": 95, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the light brown mug with handle, rotate it, put it down, then hook onto the smooth rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000096.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..c9bec4ea75b55f5b9ca1759b0073590710d1e98b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000096.json @@ -0,0 +1,70 @@ +{ + "episode_index": 96, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 133, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 117, + "arm": "left", + "kind": "open", + "start_frame": 110, + "end_frame": 124 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000097.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..87a197629eb827863faf5091b71dac7eaf5f5263 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000097.json @@ -0,0 +1,70 @@ +{ + "episode_index": 97, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light beige ceramic drinking mug from the table, rotate it, place it in the center, then hang it onto the metal rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000098.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..21383ba799cfca72021611c7e80d39597a60acb3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000098.json @@ -0,0 +1,70 @@ +{ + "episode_index": 98, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug, rotate it, set it on the table's center, then hang it onto the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000099.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..5dc680cab48a3bed174ce915c8aa4271bfdd0491 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000099.json @@ -0,0 +1,70 @@ +{ + "episode_index": 99, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug handle on side, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000100.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..00c6c684e41d0614b800959d9f76c71bfb48ce11 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000100.json @@ -0,0 +1,70 @@ +{ + "episode_index": 100, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the ceramic mug smooth beige surface, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000101.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..5bb2f7d66558b343e1d9c70141eb4fe1383c7014 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000101.json @@ -0,0 +1,70 @@ +{ + "episode_index": 101, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the medium mug with smooth texture, rotate it, and attach it to the smooth dark gray rack after setting it down.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000102.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..831ba51de2711c4f2ccb9937021a85be2c9e9023 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000102.json @@ -0,0 +1,70 @@ +{ + "episode_index": 102, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug with smooth body, flip it, set it down, and then attach it to the dark gray rack.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000103.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..d7ec33af26d85422807fdc8f88e4e5acc173d185 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000103.json @@ -0,0 +1,70 @@ +{ + "episode_index": 103, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth ceramic mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000104.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..af75e77618858ccde84fc2d320fe3e8dfafd6b6b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000104.json @@ -0,0 +1,70 @@ +{ + "episode_index": 104, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the glossy mug for beverages, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000105.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..2a93249acc64b37bce272880ad0886a4dd6aedc0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000105.json @@ -0,0 +1,70 @@ +{ + "episode_index": 105, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000106.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..e60e5201700c9d3efef3fb7199451267423a2343 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000106.json @@ -0,0 +1,70 @@ +{ + "episode_index": 106, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with glossy beige finish, rotate it, place it down, and hang it onto the dark gray rack with the right arm.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000107.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..22d21a15c7f57bf3c865cb36b48df5ee948953be --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000107.json @@ -0,0 +1,70 @@ +{ + "episode_index": 107, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the white drinking mug with smooth surface, rotate it, set it down, then hang on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000108.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..84b591518d60e0d0711cb8ed3f5a1f6db1f8b2e2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000108.json @@ -0,0 +1,70 @@ +{ + "episode_index": 108, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the mug with cartoon design, turn it, place it centrally, then hang the mug with cartoon design onto the rack with two rods sticking out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000109.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..c754b35c61f70dc36fe8064ce97756505009b722 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000109.json @@ -0,0 +1,70 @@ +{ + "episode_index": 109, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the smooth rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000110.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd317dd64671ffe7c20cc28d926d8dd4773d726 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000110.json @@ -0,0 +1,70 @@ +{ + "episode_index": 110, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug with one arm, rotate it, and hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000111.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..c7227a11071ba14ccbde00091f74e49908119bc6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000111.json @@ -0,0 +1,70 @@ +{ + "episode_index": 111, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the colorful cartoon mug, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000112.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..fba5b495d41a5d38d45c7ad19e0d42d6c8a8f090 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000112.json @@ -0,0 +1,70 @@ +{ + "episode_index": 112, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000113.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b0ff7140219679a849a3c95de9941867f6a4a6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000113.json @@ -0,0 +1,70 @@ +{ + "episode_index": 113, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige ceramic mug from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000114.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..320eb24cbe1b6c57b1b913beb21f9f7ac3050aba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000114.json @@ -0,0 +1,70 @@ +{ + "episode_index": 114, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the brown mug, turn it, set it centrally, and use the other to hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000115.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea3d2c05972a072aefeb90887a8fbdcf5c16f87 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000115.json @@ -0,0 +1,70 @@ +{ + "episode_index": 115, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth and plain drinking mug, turn it around, set it in the middle, and place it on the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000116.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..e0929c4b07ace71e77d9cb8c63cf0f7be2cfa459 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000116.json @@ -0,0 +1,70 @@ +{ + "episode_index": 116, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical mug with curved handle, spin it, place it down, then use the right arm to hang it on the rack with two rods sticking out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000117.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..ceec4332833cabd5c4633051b589409fc020995e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000117.json @@ -0,0 +1,70 @@ +{ + "episode_index": 117, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000118.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..452de385660d6c249780a96895b92b12c4562b16 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000118.json @@ -0,0 +1,70 @@ +{ + "episode_index": 118, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige ceramic mug from the table, rotate it, place it, and hang it onto the smooth rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000119.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000119.json new file mode 100644 index 0000000000000000000000000000000000000000..fdff7806239cbcc08d47822b818d04a65c5880d6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000119.json @@ -0,0 +1,70 @@ +{ + "episode_index": 119, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000120.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000120.json new file mode 100644 index 0000000000000000000000000000000000000000..4cef075624e78af12ca98f41125a6520b5e3a5e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000120.json @@ -0,0 +1,70 @@ +{ + "episode_index": 120, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000121.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..587d611178b507d71e4138079cb76b573e9738f7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000121.json @@ -0,0 +1,70 @@ +{ + "episode_index": 121, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000122.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000122.json new file mode 100644 index 0000000000000000000000000000000000000000..093ccd969c0df54d73f74654dd67c3488fa3be27 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000122.json @@ -0,0 +1,70 @@ +{ + "episode_index": 122, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000123.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000123.json new file mode 100644 index 0000000000000000000000000000000000000000..74ac35b6a683d988639372211f1577a885452d1c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000123.json @@ -0,0 +1,70 @@ +{ + "episode_index": 123, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000124.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000124.json new file mode 100644 index 0000000000000000000000000000000000000000..f97a038215275fa7da462ceef417362cb8b06cfe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000124.json @@ -0,0 +1,70 @@ +{ + "episode_index": 124, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000125.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000125.json new file mode 100644 index 0000000000000000000000000000000000000000..830638125e803e4bfa55cd81a75ef544a46b4759 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000125.json @@ -0,0 +1,70 @@ +{ + "episode_index": 125, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical beige ceramic mug, twist it, set it back, and secure it onto the metallic rack with smooth finish.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000126.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000126.json new file mode 100644 index 0000000000000000000000000000000000000000..4305b9d5c432226c471054fe4155f5f95e7bab3e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000126.json @@ -0,0 +1,70 @@ +{ + "episode_index": 126, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000127.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..fb0b65655199e3605af4e1ae98aee8cdf23c2930 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000127.json @@ -0,0 +1,70 @@ +{ + "episode_index": 127, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000128.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000128.json new file mode 100644 index 0000000000000000000000000000000000000000..370c9142d1bd4cb5d1c184aecc96419cf73b0d03 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000128.json @@ -0,0 +1,70 @@ +{ + "episode_index": 128, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000129.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000129.json new file mode 100644 index 0000000000000000000000000000000000000000..414d607713c8c6de88ded470e37238d91e7a0551 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000129.json @@ -0,0 +1,70 @@ +{ + "episode_index": 129, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000130.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000130.json new file mode 100644 index 0000000000000000000000000000000000000000..e9f462b39e3c949e7a5038c875a5cfc58f68f211 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000130.json @@ -0,0 +1,70 @@ +{ + "episode_index": 130, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with blue design from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000131.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000131.json new file mode 100644 index 0000000000000000000000000000000000000000..a2392a652277dd2042e853b4f6cb7df8b8d83d12 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000131.json @@ -0,0 +1,70 @@ +{ + "episode_index": 131, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000132.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000132.json new file mode 100644 index 0000000000000000000000000000000000000000..21235c0846f306513f624aebc2a6a82ac12c3f4c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000132.json @@ -0,0 +1,70 @@ +{ + "episode_index": 132, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000133.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000133.json new file mode 100644 index 0000000000000000000000000000000000000000..c714e74085488e32b7c8282cdea3b6936cdaaae1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000133.json @@ -0,0 +1,70 @@ +{ + "episode_index": 133, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000134.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000134.json new file mode 100644 index 0000000000000000000000000000000000000000..d715fcec7e3dc8dd30f5d1e7be14e5e261915acf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000134.json @@ -0,0 +1,70 @@ +{ + "episode_index": 134, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000135.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000135.json new file mode 100644 index 0000000000000000000000000000000000000000..5c7e6d5414d636d2d82b35bc14efadb9104439a5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000135.json @@ -0,0 +1,70 @@ +{ + "episode_index": 135, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with prints from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000136.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000136.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8a8c096dd96e68acdf85375d795e59ddaede67 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000136.json @@ -0,0 +1,70 @@ +{ + "episode_index": 136, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000137.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000137.json new file mode 100644 index 0000000000000000000000000000000000000000..7bfe4aff431ff7f06448cac37b4524738d92c87e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000137.json @@ -0,0 +1,70 @@ +{ + "episode_index": 137, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the curved handle mug from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000138.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000138.json new file mode 100644 index 0000000000000000000000000000000000000000..5b32e3e2125cac53a3d6b10acf066335264ba41d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000138.json @@ -0,0 +1,70 @@ +{ + "episode_index": 138, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000139.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000139.json new file mode 100644 index 0000000000000000000000000000000000000000..c938982c0dd5f476298f98a866cc60647f57614b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000139.json @@ -0,0 +1,70 @@ +{ + "episode_index": 139, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000140.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000140.json new file mode 100644 index 0000000000000000000000000000000000000000..5f79c5d954539725a0788f90fcade57b4fee2e50 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000140.json @@ -0,0 +1,70 @@ +{ + "episode_index": 140, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000141.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000141.json new file mode 100644 index 0000000000000000000000000000000000000000..80908a93be882955713ad9cb775f5db595aa955a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000141.json @@ -0,0 +1,70 @@ +{ + "episode_index": 141, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000142.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000142.json new file mode 100644 index 0000000000000000000000000000000000000000..fd485e5817c640a9caa23f2342baa99c568d8314 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000142.json @@ -0,0 +1,70 @@ +{ + "episode_index": 142, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000143.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000143.json new file mode 100644 index 0000000000000000000000000000000000000000..a9fa148ce2b8a40110d5763bb0cf03bf7a7ff80a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000143.json @@ -0,0 +1,70 @@ +{ + "episode_index": 143, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000144.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000144.json new file mode 100644 index 0000000000000000000000000000000000000000..afe59d1f5f9df14f8173c48be29831b88240bed3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000144.json @@ -0,0 +1,70 @@ +{ + "episode_index": 144, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000145.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000145.json new file mode 100644 index 0000000000000000000000000000000000000000..2942beb64c4fc2bd8f90e642a8005c52665be652 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000145.json @@ -0,0 +1,70 @@ +{ + "episode_index": 145, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000146.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000146.json new file mode 100644 index 0000000000000000000000000000000000000000..cf270cb10ff7be960f1d794ba33913212df9eb84 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000146.json @@ -0,0 +1,70 @@ +{ + "episode_index": 146, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000147.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000147.json new file mode 100644 index 0000000000000000000000000000000000000000..741513200fe8bf736ad1a57e69bd2649d096f050 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000147.json @@ -0,0 +1,70 @@ +{ + "episode_index": 147, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000148.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000148.json new file mode 100644 index 0000000000000000000000000000000000000000..c399372e82e93cfd506a346d9b7ae721ed51f0ee --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000148.json @@ -0,0 +1,70 @@ +{ + "episode_index": 148, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 152, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 153, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000149.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..22a7502f7655f6492753899fe9a0cf4438e40115 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000149.json @@ -0,0 +1,70 @@ +{ + "episode_index": 149, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000150.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000150.json new file mode 100644 index 0000000000000000000000000000000000000000..870158b224a346d85bf9e415d8467ac364983807 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000150.json @@ -0,0 +1,70 @@ +{ + "episode_index": 150, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000151.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000151.json new file mode 100644 index 0000000000000000000000000000000000000000..efc62bc68aebbd6158527066dd06ad9caa0ba180 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000151.json @@ -0,0 +1,70 @@ +{ + "episode_index": 151, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000152.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000152.json new file mode 100644 index 0000000000000000000000000000000000000000..48c1f6101b258fdd59daeeb6a017b4f181610906 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000152.json @@ -0,0 +1,70 @@ +{ + "episode_index": 152, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000153.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000153.json new file mode 100644 index 0000000000000000000000000000000000000000..0696954afa6970f54c35cf1c57f1504dcf4e5f7e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000153.json @@ -0,0 +1,70 @@ +{ + "episode_index": 153, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000154.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e078f4b0b933deb4fe6b3f7500277032d5926c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000154.json @@ -0,0 +1,70 @@ +{ + "episode_index": 154, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000155.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000155.json new file mode 100644 index 0000000000000000000000000000000000000000..1b79321a1579aec514f41a739157561cded4991d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000155.json @@ -0,0 +1,70 @@ +{ + "episode_index": 155, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000156.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000156.json new file mode 100644 index 0000000000000000000000000000000000000000..be38638b5f8b8a0a18cc034cc4b783d119e2db9a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000156.json @@ -0,0 +1,70 @@ +{ + "episode_index": 156, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000157.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000157.json new file mode 100644 index 0000000000000000000000000000000000000000..f3d64a70a07d75f6f5149a8f281fceaf9afeaedc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000157.json @@ -0,0 +1,70 @@ +{ + "episode_index": 157, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000158.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000158.json new file mode 100644 index 0000000000000000000000000000000000000000..8b5a72731f87cf9236d23ae8973319d52e9d3184 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000158.json @@ -0,0 +1,70 @@ +{ + "episode_index": 158, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000159.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000159.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc67a1170280cd0a1a6e7101d24e0df026659a7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000159.json @@ -0,0 +1,70 @@ +{ + "episode_index": 159, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000160.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000160.json new file mode 100644 index 0000000000000000000000000000000000000000..f10cd8e7343840f4eb9cf5210b3ffad4e9aecf61 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000160.json @@ -0,0 +1,70 @@ +{ + "episode_index": 160, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000161.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000161.json new file mode 100644 index 0000000000000000000000000000000000000000..0e801eba8b0f4e16705196fb70506ecb159af2ef --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000161.json @@ -0,0 +1,70 @@ +{ + "episode_index": 161, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 345, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000162.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000162.json new file mode 100644 index 0000000000000000000000000000000000000000..a640941849f20a0efdac4bf65870f9964cab9e62 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000162.json @@ -0,0 +1,70 @@ +{ + "episode_index": 162, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000163.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000163.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7cf51db7956d32c6ac140b5af08431d0231f93 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000163.json @@ -0,0 +1,70 @@ +{ + "episode_index": 163, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with curved handle, twist it, set it back, and secure it onto the metal rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000164.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000164.json new file mode 100644 index 0000000000000000000000000000000000000000..727f9862cf7358f8b289ce785758e20600e328f0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000164.json @@ -0,0 +1,70 @@ +{ + "episode_index": 164, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the hand-sized ceramic cylindrical mug, turn it, place it, then hang on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000165.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000165.json new file mode 100644 index 0000000000000000000000000000000000000000..5c2ca99234fe158a3bb359069adb4a450970d499 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000165.json @@ -0,0 +1,70 @@ +{ + "episode_index": 165, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000166.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000166.json new file mode 100644 index 0000000000000000000000000000000000000000..caf08a90390d011156315c415ce8cd5d2763daba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000166.json @@ -0,0 +1,70 @@ +{ + "episode_index": 166, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 356, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 148, + "end_frame": 355, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 327, + "arm": "right", + "kind": "open", + "start_frame": 320, + "end_frame": 334 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000167.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000167.json new file mode 100644 index 0000000000000000000000000000000000000000..532fe6cd736922402a4d2d6e4546e89a5b72ae5c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000167.json @@ -0,0 +1,70 @@ +{ + "episode_index": 167, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the drinking mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000168.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000168.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa89c4ed1f741d9de561b4c8c9f37531cdf0153 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000168.json @@ -0,0 +1,70 @@ +{ + "episode_index": 168, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "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.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000169.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000169.json new file mode 100644 index 0000000000000000000000000000000000000000..5f8e2127adfca1598d8cb762b8be3cc9d28a7af8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000169.json @@ -0,0 +1,70 @@ +{ + "episode_index": 169, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the logo mug, turn it, place it down, and hang it on the smooth dark gray rack.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000170.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000170.json new file mode 100644 index 0000000000000000000000000000000000000000..68ecfc9e7ba76b7c23a8f79fc066bd558d1e9b66 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000170.json @@ -0,0 +1,70 @@ +{ + "episode_index": 170, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the medium mug with handle, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000171.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000171.json new file mode 100644 index 0000000000000000000000000000000000000000..16e9c68adb2b702b18768e63002c89e2f0103f1e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000171.json @@ -0,0 +1,70 @@ +{ + "episode_index": 171, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the beige mug used for drinks, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000172.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000172.json new file mode 100644 index 0000000000000000000000000000000000000000..6f942d9f44676a496e9be1a2bc20090df57c1c73 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000172.json @@ -0,0 +1,70 @@ +{ + "episode_index": 172, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium mug with handle, give it a turn, and hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000173.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000173.json new file mode 100644 index 0000000000000000000000000000000000000000..d772e75b062c359b3775088e3e34a42d34559ecc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000173.json @@ -0,0 +1,70 @@ +{ + "episode_index": 173, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with rounded handle up, twist it, place it back, then hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000174.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000174.json new file mode 100644 index 0000000000000000000000000000000000000000..34536851224d98a6ff66fdebd08e7ce46456bcf5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000174.json @@ -0,0 +1,70 @@ +{ + "episode_index": 174, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical black mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000175.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000175.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac4ac89625458cc414b156b045d2f4b208a9788 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000175.json @@ -0,0 +1,70 @@ +{ + "episode_index": 175, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth ceramic mug, flip it, set it down, and then attach it to the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000176.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000176.json new file mode 100644 index 0000000000000000000000000000000000000000..3ecc2d4853676eb2f4dbb099c28be052a2aef3e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000176.json @@ -0,0 +1,70 @@ +{ + "episode_index": 176, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the solid black ceramic mug, rotate it, set it down, then hang on the smooth dark gray rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000177.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000177.json new file mode 100644 index 0000000000000000000000000000000000000000..1980eae94b73095e81f4f54c6f0c55c479159fe5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000177.json @@ -0,0 +1,70 @@ +{ + "episode_index": 177, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug for liquids, give it a turn, and hang it onto the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000178.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000178.json new file mode 100644 index 0000000000000000000000000000000000000000..dceda5d473b6c46cea50bba02b14d773bbdbac07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000178.json @@ -0,0 +1,70 @@ +{ + "episode_index": 178, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with thick sturdy handle, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000179.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000179.json new file mode 100644 index 0000000000000000000000000000000000000000..598a992c20733de7a2581ca9ab54f5b14636fe80 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000179.json @@ -0,0 +1,70 @@ +{ + "episode_index": 179, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with loop handle from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000180.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000180.json new file mode 100644 index 0000000000000000000000000000000000000000..592b900e5c51ff6b8bc714c65023772da540a220 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000180.json @@ -0,0 +1,70 @@ +{ + "episode_index": 180, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug, turn it, put it in the center, and transfer it to the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000181.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000181.json new file mode 100644 index 0000000000000000000000000000000000000000..1360b3d01a85c198f5b4a9bb4f99325eb19db336 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000181.json @@ -0,0 +1,70 @@ +{ + "episode_index": 181, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium light mug from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 365, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 364, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 228, + "arm": "right", + "kind": "close", + "start_frame": 221, + "end_frame": 235 + }, + { + "frame": 336, + "arm": "right", + "kind": "open", + "start_frame": 329, + "end_frame": 343 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000182.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000182.json new file mode 100644 index 0000000000000000000000000000000000000000..c4740739ea02d26d290139e70d661b66fd4a3eab --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000182.json @@ -0,0 +1,70 @@ +{ + "episode_index": 182, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the brown medium-sized ceramic mug, give it a turn, and hang it onto the rack with angular body.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000183.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000183.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec00238f74ddd8ca1b02c178ec44bc568134cc7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000183.json @@ -0,0 +1,70 @@ +{ + "episode_index": 183, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium-sized smooth green Starbucks mug using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000184.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000184.json new file mode 100644 index 0000000000000000000000000000000000000000..dd86c9ab5c3dc74e2af7eae854828a1a36c9abfc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000184.json @@ -0,0 +1,70 @@ +{ + "episode_index": 184, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with thick sturdy handle, rotate it, place it in the middle, and hang it on the dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000185.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000185.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bea12405e9c95092b7246e38866863d5fe6215 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000185.json @@ -0,0 +1,70 @@ +{ + "episode_index": 185, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy texture, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000186.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000186.json new file mode 100644 index 0000000000000000000000000000000000000000..39f2c26dbeee35ec5edc68fd4dbedcb80fce5038 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000186.json @@ -0,0 +1,70 @@ +{ + "episode_index": 186, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the logo mug, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000187.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000187.json new file mode 100644 index 0000000000000000000000000000000000000000..179a96fda887f37cf076cf18e3736f02bf234d95 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000187.json @@ -0,0 +1,70 @@ +{ + "episode_index": 187, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug with cartoons, turn it around, set it in the middle, and place it on the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000188.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000188.json new file mode 100644 index 0000000000000000000000000000000000000000..7f301a23b8fd8d49ef2fc8000debc7f6f88972b0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000188.json @@ -0,0 +1,70 @@ +{ + "episode_index": 188, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the smooth ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the metal rack.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 342, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000189.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000189.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1abcf924aad30bdac791421e4fe7aaa8ba583f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000189.json @@ -0,0 +1,70 @@ +{ + "episode_index": 189, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with glossy beige finish, turn it, put it in the center, and transfer it to the medium rack with protruding rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000190.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000190.json new file mode 100644 index 0000000000000000000000000000000000000000..b491ce8be2d0f4d3a44c1742a5e423c1c36eb046 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000190.json @@ -0,0 +1,70 @@ +{ + "episode_index": 190, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the drinking mug with smooth body, rotate it, place it on the table, and hook it onto the smooth rack.", + "num_frames": 390, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 389, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000191.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000191.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bab7af759e1966cf2f38852717eafcae244563 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000191.json @@ -0,0 +1,70 @@ +{ + "episode_index": 191, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug for drinking liquids from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000192.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..1954c09e01540bef0cf50dd70ca4c794acd8fead --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000192.json @@ -0,0 +1,70 @@ +{ + "episode_index": 192, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical black mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000193.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000193.json new file mode 100644 index 0000000000000000000000000000000000000000..07ca997ca8a476cd99492a980b3d9b7d56b2d832 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000193.json @@ -0,0 +1,70 @@ +{ + "episode_index": 193, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug for hot drinks from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 323, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000194.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000194.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4b327f61e5a3cdc73339bdcce507cdf4db373a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000194.json @@ -0,0 +1,70 @@ +{ + "episode_index": 194, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the medium light mug, rotate it, put it down, then hook onto the rack with two rods sticking out.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000195.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000195.json new file mode 100644 index 0000000000000000000000000000000000000000..9208510c1cb587a098709b8c197dd92ce3caac97 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000195.json @@ -0,0 +1,70 @@ +{ + "episode_index": 195, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with prints, spin it, place it down, then use the right arm to hang it on the metal rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000196.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000196.json new file mode 100644 index 0000000000000000000000000000000000000000..a746cca89fa77aa363d1f73590fff40139c7bc8e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000196.json @@ -0,0 +1,70 @@ +{ + "episode_index": 196, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000197.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000197.json new file mode 100644 index 0000000000000000000000000000000000000000..d344dd4dee4d5f101265e69254807d31953e812d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000197.json @@ -0,0 +1,70 @@ +{ + "episode_index": 197, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the brown mug for drinking, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000198.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000198.json new file mode 100644 index 0000000000000000000000000000000000000000..f880dd1bb377eade8537e0330cd5dc6556d2d159 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000198.json @@ -0,0 +1,70 @@ +{ + "episode_index": 198, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the drinking mug, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000199.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000199.json new file mode 100644 index 0000000000000000000000000000000000000000..1923e8843edfb2449bb8e3f6da457da3c3a49dfc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000199.json @@ -0,0 +1,70 @@ +{ + "episode_index": 199, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the beige mug, rotate it, and attach it to the dark gray angled rack after setting it down.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000200.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000200.json new file mode 100644 index 0000000000000000000000000000000000000000..f22a85b51ca39927275ee57e12763a60353d3e30 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000200.json @@ -0,0 +1,70 @@ +{ + "episode_index": 200, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the beige mug handle on side from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000201.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000201.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5692d3331d05580acb869849e8454037325e94 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000201.json @@ -0,0 +1,70 @@ +{ + "episode_index": 201, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000202.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a820e92ce51331bbbb8431c9f07261a7298da8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000202.json @@ -0,0 +1,70 @@ +{ + "episode_index": 202, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium-sized drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000203.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..2133fe71817463c36229ce4015466d0a4219c6cf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000203.json @@ -0,0 +1,70 @@ +{ + "episode_index": 203, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the beige mug handle on side up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000204.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000204.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9efee5b60e9fb33c79b1b6a50276705bc39315 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000204.json @@ -0,0 +1,70 @@ +{ + "episode_index": 204, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with glossy texture, rotate it, place it down, then your right arm to hang it onto the dark gray rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000205.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000205.json new file mode 100644 index 0000000000000000000000000000000000000000..39ce3b4a207e9690279f37a5d71d3a62e159eae6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000205.json @@ -0,0 +1,70 @@ +{ + "episode_index": 205, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with handle from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000206.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000206.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e2a49e2846b3dd8d54360d73ddec848436054f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000206.json @@ -0,0 +1,70 @@ +{ + "episode_index": 206, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug with printed logo, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000207.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000207.json new file mode 100644 index 0000000000000000000000000000000000000000..f4860839512def4708e1e1b8f4dfaf8452acbe74 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000207.json @@ -0,0 +1,70 @@ +{ + "episode_index": 207, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the Starbucks branded coffee mug from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000208.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000208.json new file mode 100644 index 0000000000000000000000000000000000000000..19d79b50681a48a3174ee062419287306ea1cee6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000208.json @@ -0,0 +1,70 @@ +{ + "episode_index": 208, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug with glossy finish, rotate it, place it in the center, then hang it on the rack with two rods sticking out.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000209.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000209.json new file mode 100644 index 0000000000000000000000000000000000000000..da0d1a0b152dd860b3e6bdf348cd5c5b46d21180 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000209.json @@ -0,0 +1,70 @@ +{ + "episode_index": 209, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the Starbucks branded coffee mug, turn it, put it in the center, and transfer it to the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000210.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000210.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a98401bbec3680cd9032fc9239f23b4479b398 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000210.json @@ -0,0 +1,70 @@ +{ + "episode_index": 210, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light brown cylindrical mug from the table, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 350, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000211.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000211.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd74545fcc493ddb6a5d1469ca1920daa6d3b6e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000211.json @@ -0,0 +1,70 @@ +{ + "episode_index": 211, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the glossy beige ceramic drinking mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000212.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000212.json new file mode 100644 index 0000000000000000000000000000000000000000..66578d06e9b414bcd5b5bcf6aa5333f8b6ab621d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000212.json @@ -0,0 +1,70 @@ +{ + "episode_index": 212, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with smooth texture from the table, rotate it, place it, and then hang it onto the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000213.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000213.json new file mode 100644 index 0000000000000000000000000000000000000000..9887f2b2ba094262e84cf31b9b00690244626933 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000213.json @@ -0,0 +1,70 @@ +{ + "episode_index": 213, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug from the table, spin it, place it in the center, then hang it on the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000214.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000214.json new file mode 100644 index 0000000000000000000000000000000000000000..e0139a1b484feb3bbe0ecb87b216c494d59d0660 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000214.json @@ -0,0 +1,70 @@ +{ + "episode_index": 214, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the mug with curved black handle, turn it, place it, then hang on the angled rack with long and short rods.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000215.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000215.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb957875088edf0124845735dc029763df8f89e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000215.json @@ -0,0 +1,70 @@ +{ + "episode_index": 215, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth dark green mug, turn it around, set it in the middle, and place it on the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000216.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000216.json new file mode 100644 index 0000000000000000000000000000000000000000..ff30c16560022cd61d8505a85197a034a5008230 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000216.json @@ -0,0 +1,70 @@ +{ + "episode_index": 216, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug smooth beige surface, rotate it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000217.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000217.json new file mode 100644 index 0000000000000000000000000000000000000000..e170e2c237354c2dcef3f717da72bf054af13e5b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000217.json @@ -0,0 +1,70 @@ +{ + "episode_index": 217, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the smooth dark green mug, rotate it, place it down, then your right arm to hang it onto the smooth dark gray rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000218.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000218.json new file mode 100644 index 0000000000000000000000000000000000000000..81bb506af7531bedb56f3e2638f88d894377de94 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000218.json @@ -0,0 +1,70 @@ +{ + "episode_index": 218, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with side handle from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000219.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000219.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc0f2f4643bbc0cee242cc860f3ac6e7a4f57f9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000219.json @@ -0,0 +1,70 @@ +{ + "episode_index": 219, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-sized mug with blue artwork, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000220.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000220.json new file mode 100644 index 0000000000000000000000000000000000000000..fab921e6b802fbdf8f22e4773918c1993949f840 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000220.json @@ -0,0 +1,70 @@ +{ + "episode_index": 220, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical coffee mug with handle from the table using one hand, rotate, and hang it on the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000221.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000221.json new file mode 100644 index 0000000000000000000000000000000000000000..564dd1b078c75cb8a9fc235aa235f71a6279af64 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000221.json @@ -0,0 +1,70 @@ +{ + "episode_index": 221, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige ceramic drinking mug, rotate it, place it down, and hang it onto the rack with two rods sticking out with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000222.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000222.json new file mode 100644 index 0000000000000000000000000000000000000000..c610ba73eba99ad0c5a9aa29cf08bbd0512583d5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000222.json @@ -0,0 +1,70 @@ +{ + "episode_index": 222, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000223.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000223.json new file mode 100644 index 0000000000000000000000000000000000000000..4338d6f0d83451719b0e52ad797566b744bfb293 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000223.json @@ -0,0 +1,70 @@ +{ + "episode_index": 223, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with glossy finish from the table, turn it, put it down in the middle, then hang it onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000224.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000224.json new file mode 100644 index 0000000000000000000000000000000000000000..446e7648366112f02579ae09c29bb7d5ef63b49f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000224.json @@ -0,0 +1,70 @@ +{ + "episode_index": 224, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the cylindrical mug with black finish, rotate it, set it down, then hang the cylindrical mug with black finish onto the dark gray rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000225.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000225.json new file mode 100644 index 0000000000000000000000000000000000000000..d14c9e04b7bdbc2f404b5b494c3da6569f43719d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000225.json @@ -0,0 +1,70 @@ +{ + "episode_index": 225, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug with handle, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000226.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000226.json new file mode 100644 index 0000000000000000000000000000000000000000..eabd7191d4fa9afc2f075590ac985c5a1fb6765c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000226.json @@ -0,0 +1,70 @@ +{ + "episode_index": 226, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige mug polished ceramic build, rotate it, place it in the middle, and hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000227.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..ff98c94ec3bdd1104954e277efb090d7553ef8e3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000227.json @@ -0,0 +1,70 @@ +{ + "episode_index": 227, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light brown mug with handle, rotate it, set it down, then hang the light brown mug with handle onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000228.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..3500c09ba1e9abd9a4875213cd0c29e226cc46f5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000228.json @@ -0,0 +1,70 @@ +{ + "episode_index": 228, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000229.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..292a12e33110dfb20015443d4dc913de7b6e785a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000229.json @@ -0,0 +1,70 @@ +{ + "episode_index": 229, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the dark green ceramic cup, rotate it, put it down, then hook onto the rack with angular body.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 149, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000230.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000230.json new file mode 100644 index 0000000000000000000000000000000000000000..b96dab227b66e228e1ff523801422122c5ac18e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000230.json @@ -0,0 +1,70 @@ +{ + "episode_index": 230, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 369, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 151, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 152, + "end_frame": 368, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 235, + "arm": "right", + "kind": "close", + "start_frame": 228, + "end_frame": 242 + }, + { + "frame": 339, + "arm": "right", + "kind": "open", + "start_frame": 332, + "end_frame": 346 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000231.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000231.json new file mode 100644 index 0000000000000000000000000000000000000000..674b2a835aeab69827889f10618dd31865b6499d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000231.json @@ -0,0 +1,70 @@ +{ + "episode_index": 231, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the cylindrical mug with curved handle, rotate it, place it, then hang it onto the rack with angular body.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000232.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000232.json new file mode 100644 index 0000000000000000000000000000000000000000..1c86310127739b6efc12edb441fe0fda930b6788 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000232.json @@ -0,0 +1,70 @@ +{ + "episode_index": 232, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle, rotate it, set it on the table's center, then hang it onto the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000233.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000233.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee0a889658bddcf076002d18bf7cc45a72cac3a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000233.json @@ -0,0 +1,70 @@ +{ + "episode_index": 233, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000234.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000234.json new file mode 100644 index 0000000000000000000000000000000000000000..f95a7c1a26a0ffb48d828b69178130bb04b920e3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000234.json @@ -0,0 +1,70 @@ +{ + "episode_index": 234, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the blue mug with solid texture, rotate it, set it down, then hang on the angular rack with slanted support rod.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000235.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000235.json new file mode 100644 index 0000000000000000000000000000000000000000..aa8ab28b0582dfbcba14a29b45093caecdd34261 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000235.json @@ -0,0 +1,70 @@ +{ + "episode_index": 235, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the medium mug fits in hand, rotate it, put it down, then hook onto the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000236.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000236.json new file mode 100644 index 0000000000000000000000000000000000000000..33f6e0c660f0adc0aefab7551b8d421129fe37f1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000236.json @@ -0,0 +1,70 @@ +{ + "episode_index": 236, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige mug used for drinks from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000237.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000237.json new file mode 100644 index 0000000000000000000000000000000000000000..387be67559716be84c2c0c50f65f4b3c34395d6a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000237.json @@ -0,0 +1,70 @@ +{ + "episode_index": 237, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for drinking liquids, twist it, set it back, and secure it onto the rack with angular body.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000238.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000238.json new file mode 100644 index 0000000000000000000000000000000000000000..4678794ef20db3c8e8c45ac92fd8510d448f2b48 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000238.json @@ -0,0 +1,70 @@ +{ + "episode_index": 238, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug for hot drinks with one arm, rotate it, and hang it onto the smooth dark gray rack.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000239.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000239.json new file mode 100644 index 0000000000000000000000000000000000000000..f6355e61988df35465cca62f8c82ccdafd77341b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000239.json @@ -0,0 +1,70 @@ +{ + "episode_index": 239, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the brown mug, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000240.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000240.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb0a65b6dbc4b594a18a5dc3ede521a298cff73 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000240.json @@ -0,0 +1,70 @@ +{ + "episode_index": 240, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the drinking mug, turn it, place it back, and move it onto the smooth rack with the right arm.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000241.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000241.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea5ce7afa7727edd9e863360fdd593042481733 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000241.json @@ -0,0 +1,70 @@ +{ + "episode_index": 241, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with black finish from the table, rotate it, place it in the middle, and hang it on the rack with angular body.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 350, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 227, + "arm": "right", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000242.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000242.json new file mode 100644 index 0000000000000000000000000000000000000000..648dad5c0c2fa6646efeabd3205396a237f36e25 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000242.json @@ -0,0 +1,70 @@ +{ + "episode_index": 242, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the bright blue coffee mug, rotate it, set it down, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000243.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000243.json new file mode 100644 index 0000000000000000000000000000000000000000..b768b2112a19db345daae189336b34f74eee0739 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000243.json @@ -0,0 +1,70 @@ +{ + "episode_index": 243, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light beige ceramic drinking mug up, twist it, place it back, then hang it onto the angled rack with long and short rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000244.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000244.json new file mode 100644 index 0000000000000000000000000000000000000000..520fa8ed485698f86287a5cead50413a63cd525f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000244.json @@ -0,0 +1,70 @@ +{ + "episode_index": 244, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with round handle from the table, rotate it, place it, and then hang it onto the rack with angular body.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 149, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000245.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000245.json new file mode 100644 index 0000000000000000000000000000000000000000..954df26641183320e1b8257567a448bc33b19c45 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000245.json @@ -0,0 +1,70 @@ +{ + "episode_index": 245, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the white ceramic mug with handle, rotate it, set it down, then hang the white ceramic mug with handle onto the rack with two rods sticking out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000246.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000246.json new file mode 100644 index 0000000000000000000000000000000000000000..3d03e2bf74af01eb026091f797dbaf6e1177fd15 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000246.json @@ -0,0 +1,70 @@ +{ + "episode_index": 246, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with logo design on side using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000247.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000247.json new file mode 100644 index 0000000000000000000000000000000000000000..dc0c3e8c63777699dc8292af4c55d111d7b586a4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000247.json @@ -0,0 +1,70 @@ +{ + "episode_index": 247, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white mug, turn it, put it in the center, and transfer it to the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000248.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000248.json new file mode 100644 index 0000000000000000000000000000000000000000..adf8e4bcd8a2992910b22ce6b56cef63f78bc0f8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000248.json @@ -0,0 +1,70 @@ +{ + "episode_index": 248, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige mug handle on side, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000249.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..f28691a1e92292ab626920bd1b5fc7a4419180fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000249.json @@ -0,0 +1,70 @@ +{ + "episode_index": 249, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-held ceramic mug from the table, rotate it, place it, and then hang it onto the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000250.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000250.json new file mode 100644 index 0000000000000000000000000000000000000000..5f6af21a74ba866f4370917132a969f08be67c5d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000250.json @@ -0,0 +1,70 @@ +{ + "episode_index": 250, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle with one arm, rotate it, and hang it onto the rack with angular body.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000251.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000251.json new file mode 100644 index 0000000000000000000000000000000000000000..647334daec6912e98ebac0a0bb14b605368b2087 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000251.json @@ -0,0 +1,70 @@ +{ + "episode_index": 251, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black coffee mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000252.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..04c01872c9cb0d949fb845dd8416f1d6983dba84 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000252.json @@ -0,0 +1,70 @@ +{ + "episode_index": 252, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the ceramic mug smooth beige surface, turn it, place it, then hang on the dark gray rack.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000253.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000253.json new file mode 100644 index 0000000000000000000000000000000000000000..e603beadb75ef24cb521b056b4c4c4d467818188 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000253.json @@ -0,0 +1,70 @@ +{ + "episode_index": 253, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized black mug, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000254.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000254.json new file mode 100644 index 0000000000000000000000000000000000000000..7df81631d079f29f9e0ecac6215f050b9d0612c2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000254.json @@ -0,0 +1,70 @@ +{ + "episode_index": 254, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the blue mug with solid texture from the table, rotate it, place it in the center, then hang it onto the metal rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000255.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000255.json new file mode 100644 index 0000000000000000000000000000000000000000..16822ad26b288c0e958089c8bf09945a60eef4e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000255.json @@ -0,0 +1,70 @@ +{ + "episode_index": 255, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the beige mug handle on side, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000256.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000256.json new file mode 100644 index 0000000000000000000000000000000000000000..0614f1cf69800e885ab9cf703e9127a306142ca2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000256.json @@ -0,0 +1,70 @@ +{ + "episode_index": 256, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the light beige drinking mug, spin it, place it down, then use the right arm to hang it on the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000257.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000257.json new file mode 100644 index 0000000000000000000000000000000000000000..eed7751cea2357db595f107a9f26398fb650b39a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000257.json @@ -0,0 +1,70 @@ +{ + "episode_index": 257, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the glossy black mug medium-sized for drinking, rotate it, place it in the middle, and hang it onto the smooth rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000258.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000258.json new file mode 100644 index 0000000000000000000000000000000000000000..25cb60eacd428efa661b83ef2fcad1469615a8e4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000258.json @@ -0,0 +1,70 @@ +{ + "episode_index": 258, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the printed white ceramic mug from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000259.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000259.json new file mode 100644 index 0000000000000000000000000000000000000000..c0606eb4c6f51febaea0ecd022dcebfef0b650f9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000259.json @@ -0,0 +1,70 @@ +{ + "episode_index": 259, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the medium beige mug, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000260.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000260.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae16e54c07683054f9d1cc1ede4c831cc3d7151 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000260.json @@ -0,0 +1,70 @@ +{ + "episode_index": 260, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with curved handle, rotate it, put it down in the table's center, then hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000261.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000261.json new file mode 100644 index 0000000000000000000000000000000000000000..70bdebce5d05a6e11fd2171ee8e31209246ed480 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000261.json @@ -0,0 +1,70 @@ +{ + "episode_index": 261, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the ceramic mug with printed logo, turn it, place it centrally, then hang the ceramic mug with printed logo onto the metallic rack with smooth finish.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000262.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000262.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb6d8f519b0f15f01933f2fcb04227c5cca6647 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000262.json @@ -0,0 +1,70 @@ +{ + "episode_index": 262, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the cylindrical mug with curved handle, turn it, put it in the center, and transfer it to the rack with two rods sticking out.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000263.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000263.json new file mode 100644 index 0000000000000000000000000000000000000000..8100ca1f617d69b4c7d29e25dcd4fd6303f78fd9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000263.json @@ -0,0 +1,70 @@ +{ + "episode_index": 263, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug from the table, spin it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000264.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000264.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbcbcb289e8985b5f37458e2e1f4c0117da0903 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000264.json @@ -0,0 +1,70 @@ +{ + "episode_index": 264, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug from the table, turn it, set it down, and attach it to the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000265.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000265.json new file mode 100644 index 0000000000000000000000000000000000000000..691005ffc9746780b32ff4be8816c3add68f373b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000265.json @@ -0,0 +1,70 @@ +{ + "episode_index": 265, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the colorful cartoon mug from the table, spin it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000266.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000266.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1de735847afc978585b9bf4cd22c0060877632 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000266.json @@ -0,0 +1,70 @@ +{ + "episode_index": 266, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light brown mug with handle, rotate it, place it in the middle, and hang it onto the smooth dark gray rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000267.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000267.json new file mode 100644 index 0000000000000000000000000000000000000000..5f42058a0af6a515c9aa4c65183f10014968a95f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000267.json @@ -0,0 +1,70 @@ +{ + "episode_index": 267, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the starbucks green mug, rotate it, place it down, then your right arm to hang it onto the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000268.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000268.json new file mode 100644 index 0000000000000000000000000000000000000000..898e2841ce3b64025ff92f5373b35ac70ed98787 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000268.json @@ -0,0 +1,70 @@ +{ + "episode_index": 268, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the glossy beige ceramic drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000269.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000269.json new file mode 100644 index 0000000000000000000000000000000000000000..96ff5244cf15fa514c19e299fba46ac870cc8f3f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000269.json @@ -0,0 +1,70 @@ +{ + "episode_index": 269, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle, rotate it, place it in the center, then hang it on the angled rack with long and short rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000270.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..49c218d76b0874c1e74ca3fc9fd9d4ee8b1b54f5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000270.json @@ -0,0 +1,70 @@ +{ + "episode_index": 270, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the printed white ceramic mug, rotate it, place it, then hang it onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000271.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000271.json new file mode 100644 index 0000000000000000000000000000000000000000..4c4d6bd36ccfb2b6b2cd0ae11939183fbd1d7d31 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000271.json @@ -0,0 +1,70 @@ +{ + "episode_index": 271, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with yellow chicken image, turn it around, put it back, then attach it to the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000272.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000272.json new file mode 100644 index 0000000000000000000000000000000000000000..5efe5d3232426e534b86cf4d58f41ed81a4ab2ff --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000272.json @@ -0,0 +1,70 @@ +{ + "episode_index": 272, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000273.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000273.json new file mode 100644 index 0000000000000000000000000000000000000000..418f8d911bf3010674f2d66e3be1adf0b08b28a9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000273.json @@ -0,0 +1,70 @@ +{ + "episode_index": 273, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth white mug, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000274.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000274.json new file mode 100644 index 0000000000000000000000000000000000000000..872a6b46cea49ef4bce38f2aa06e99716d03fc53 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000274.json @@ -0,0 +1,70 @@ +{ + "episode_index": 274, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the starbucks green mug, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 369, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000275.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1dd2f9e594b02b84bc4ecec3f6e0bb200d5b56 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000275.json @@ -0,0 +1,70 @@ +{ + "episode_index": 275, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium white mug with handle, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000276.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000276.json new file mode 100644 index 0000000000000000000000000000000000000000..bee6ce150c622f651d1a12eaab058b565110be7f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000276.json @@ -0,0 +1,70 @@ +{ + "episode_index": 276, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000277.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000277.json new file mode 100644 index 0000000000000000000000000000000000000000..d45a8dcca52e93fae463f7f07801d568f9fe535e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000277.json @@ -0,0 +1,70 @@ +{ + "episode_index": 277, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with side handle from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000278.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000278.json new file mode 100644 index 0000000000000000000000000000000000000000..5ade9d5885f6b3257a12eb8bd5bd9791849ecf11 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000278.json @@ -0,0 +1,70 @@ +{ + "episode_index": 278, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the mug for drinking liquids, turn it, set it centrally, and use the other to hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000279.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000279.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb7c40d53ad87abd052b969a106fcded4d69405 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000279.json @@ -0,0 +1,70 @@ +{ + "episode_index": 279, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the glossy beige ceramic drinking mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000280.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000280.json new file mode 100644 index 0000000000000000000000000000000000000000..7a209fe3f3e2d6eeb054b4a4aa2a215d08c68aed --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000280.json @@ -0,0 +1,70 @@ +{ + "episode_index": 280, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with rounded sturdy handle, rotate it, place it in the center, then hang it on the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000281.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000281.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd7cb67a0f3b5d6b3e5355e87181a1869e48d91 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000281.json @@ -0,0 +1,70 @@ +{ + "episode_index": 281, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the basic mug in solid white from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000282.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000282.json new file mode 100644 index 0000000000000000000000000000000000000000..5317a4495a8ab3dd4145bb9c24bf0fd48ae6eb34 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000282.json @@ -0,0 +1,70 @@ +{ + "episode_index": 282, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 351, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000283.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000283.json new file mode 100644 index 0000000000000000000000000000000000000000..a4d3a68bb8e9fd034d53fee9b3dddc029dddbfe3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000283.json @@ -0,0 +1,70 @@ +{ + "episode_index": 283, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000284.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..56de3e59dd20a04b43d1442553fdda51e75e98d5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000284.json @@ -0,0 +1,70 @@ +{ + "episode_index": 284, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the drinking mug with smooth body, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000285.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000285.json new file mode 100644 index 0000000000000000000000000000000000000000..5b800e430d3fe086551afba4c6178e0f51c7abeb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000285.json @@ -0,0 +1,70 @@ +{ + "episode_index": 285, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the cylindrical coffee mug with handle, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000286.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000286.json new file mode 100644 index 0000000000000000000000000000000000000000..dd340eb83916dc31a52b213aa278c50b46727e0e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000286.json @@ -0,0 +1,70 @@ +{ + "episode_index": 286, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the drinking mug shiny black exterior from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000287.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000287.json new file mode 100644 index 0000000000000000000000000000000000000000..a2c7e4c6c13284474711e30a6ff050903e7b97db --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000287.json @@ -0,0 +1,70 @@ +{ + "episode_index": 287, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the beige ceramic mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000288.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000288.json new file mode 100644 index 0000000000000000000000000000000000000000..e9702f97d784ad1bcb2562e608343811cad25b56 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000288.json @@ -0,0 +1,70 @@ +{ + "episode_index": 288, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with side handle using your left arm, turn it, set it on the table, and hang it on the dark gray angled rack with the right arm.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000289.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000289.json new file mode 100644 index 0000000000000000000000000000000000000000..261d1c4712ed492b31bf7620a0df05fe21e0f07a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000289.json @@ -0,0 +1,70 @@ +{ + "episode_index": 289, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with rounded handle, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000290.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000290.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc0376dfabab1b3ef57e17d5e9e3c153ebdf55e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000290.json @@ -0,0 +1,70 @@ +{ + "episode_index": 290, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the smooth black ceramic mug, rotate it, put it down, then hook onto the dark gray angled rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000291.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000291.json new file mode 100644 index 0000000000000000000000000000000000000000..719aca75d2e2f1fd6a2302a568469a3560affea4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000291.json @@ -0,0 +1,70 @@ +{ + "episode_index": 291, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with curved black handle, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 392, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 391, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000292.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000292.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4d5f20b6380a87adbcb18cb9bfa9bbc15242eb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000292.json @@ -0,0 +1,70 @@ +{ + "episode_index": 292, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy surface, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000293.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000293.json new file mode 100644 index 0000000000000000000000000000000000000000..5a852be95e4b3088eda5cff8be48c10a7f10b2c9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000293.json @@ -0,0 +1,70 @@ +{ + "episode_index": 293, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium mug with handle, rotate it, set it down, then hang the medium mug with handle onto the angular rack with slanted support rod.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000294.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000294.json new file mode 100644 index 0000000000000000000000000000000000000000..47116806b14ee0ccd4400ff5ac6cf991cc4949f9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000294.json @@ -0,0 +1,70 @@ +{ + "episode_index": 294, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the cylindrical coffee mug with handle, rotate it, and attach it to the angled rack with long and short rods after setting it down.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000295.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000295.json new file mode 100644 index 0000000000000000000000000000000000000000..109911aa77a743174ed07f2f2dab4c5ba9411837 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000295.json @@ -0,0 +1,70 @@ +{ + "episode_index": 295, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the colorful cartoon mug from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000296.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000296.json new file mode 100644 index 0000000000000000000000000000000000000000..feb2e05a3402d1dbed9c2c0a0730464462fa094c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000296.json @@ -0,0 +1,70 @@ +{ + "episode_index": 296, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with rounded handle, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000297.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000297.json new file mode 100644 index 0000000000000000000000000000000000000000..769ae86f43527eee1d0eba17b61f7f2935b95c10 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000297.json @@ -0,0 +1,70 @@ +{ + "episode_index": 297, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug smooth outside from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods.", + "num_frames": 343, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 342, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000298.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000298.json new file mode 100644 index 0000000000000000000000000000000000000000..84ad8bb38538214d41f32bfd59d1693adfedd8f3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000298.json @@ -0,0 +1,70 @@ +{ + "episode_index": 298, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the white mug with rounded handle, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000299.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000299.json new file mode 100644 index 0000000000000000000000000000000000000000..bafa7b860d1cffbce1684e291ec2dd229b895672 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000299.json @@ -0,0 +1,70 @@ +{ + "episode_index": 299, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with glossy beige finish, spin it, place it down, then use the right arm to hang it on the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000300.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..16caf31807dc6378fb754534b92e1e92643b749b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000300.json @@ -0,0 +1,70 @@ +{ + "episode_index": 300, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth ceramic mug, rotate it, set it in the middle, then hang it on the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000301.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000301.json new file mode 100644 index 0000000000000000000000000000000000000000..177b055e3d752f8e3e63351ff24b8bf11a0ef73f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000301.json @@ -0,0 +1,70 @@ +{ + "episode_index": 301, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with glossy texture, turn it around, set it in the middle, and place it on the smooth rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000302.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000302.json new file mode 100644 index 0000000000000000000000000000000000000000..90963a28b0205413f42463388ecae7768da2f840 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000302.json @@ -0,0 +1,70 @@ +{ + "episode_index": 302, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug smooth rounded handle up, twist it, place it back, then hang it onto the rack with two rods sticking out.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000303.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000303.json new file mode 100644 index 0000000000000000000000000000000000000000..de1cff87d0ffdea6477659f1359180d57b8dcb8e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000303.json @@ -0,0 +1,70 @@ +{ + "episode_index": 303, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table using one hand, rotate, and hang it on the dark gray rack.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 323, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000304.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000304.json new file mode 100644 index 0000000000000000000000000000000000000000..cf6b894166706b7ea7c28f834a351923db635915 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000304.json @@ -0,0 +1,70 @@ +{ + "episode_index": 304, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with curved black handle from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000305.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000305.json new file mode 100644 index 0000000000000000000000000000000000000000..a7371d8ea508ecfd44b0ead33c9baa529b9d4179 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000305.json @@ -0,0 +1,70 @@ +{ + "episode_index": 305, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 147, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 148, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 132, + "arm": "left", + "kind": "open", + "start_frame": 125, + "end_frame": 139 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000306.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000306.json new file mode 100644 index 0000000000000000000000000000000000000000..df1a7cc68a64c851f9721d7daaf81b992c36ebb2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000306.json @@ -0,0 +1,70 @@ +{ + "episode_index": 306, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium-sized mug, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000307.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..da44f064f0658b8d441bdd2efb45feef0f7052c0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000307.json @@ -0,0 +1,70 @@ +{ + "episode_index": 307, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the Starbucks branded coffee mug, rotate it, set it down, then hang the Starbucks branded coffee mug onto the medium rack with protruding rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000308.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000308.json new file mode 100644 index 0000000000000000000000000000000000000000..74d9fb441f38232880914ea1afe16eed6abb86c1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000308.json @@ -0,0 +1,70 @@ +{ + "episode_index": 308, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the blue mug with solid texture, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000309.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000309.json new file mode 100644 index 0000000000000000000000000000000000000000..d3eb4fe3d992e8bc6c74c28ab67b23a9445c1265 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000309.json @@ -0,0 +1,70 @@ +{ + "episode_index": 309, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the cylindrical coffee mug with handle, rotate it, put it down, then hook onto the smooth rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000310.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000310.json new file mode 100644 index 0000000000000000000000000000000000000000..52d6924da6d916b9fc849417dcd43a9450eeafc7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000310.json @@ -0,0 +1,70 @@ +{ + "episode_index": 310, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized mug with blue artwork, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000311.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000311.json new file mode 100644 index 0000000000000000000000000000000000000000..628c1b11a5f9cf32b7eec2c8d6e0f78044eefc83 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000311.json @@ -0,0 +1,70 @@ +{ + "episode_index": 311, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the light beige drinking mug, turn it, place it centrally, then hang the light beige drinking mug onto the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000312.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000312.json new file mode 100644 index 0000000000000000000000000000000000000000..603aa68de8e95266f73175de7230cc8cdbdbee15 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000312.json @@ -0,0 +1,70 @@ +{ + "episode_index": 312, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige drinking mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000313.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000313.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb09423c41e129f0212a1b3ce820c636d45e08f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000313.json @@ -0,0 +1,70 @@ +{ + "episode_index": 313, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with glossy texture, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000314.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000314.json new file mode 100644 index 0000000000000000000000000000000000000000..979640edd68b76d6ef082e499e8b1aa723949e3b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000314.json @@ -0,0 +1,70 @@ +{ + "episode_index": 314, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black mug for liquids from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000315.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000315.json new file mode 100644 index 0000000000000000000000000000000000000000..74aeaf862b13c8e099d4c3ac4fe80c581c8957b2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000315.json @@ -0,0 +1,70 @@ +{ + "episode_index": 315, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the glossy mug for beverages from the table, turn it, put it down in the middle, then hang it onto the rack with two rods sticking out.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000316.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000316.json new file mode 100644 index 0000000000000000000000000000000000000000..248b2d34a1430714f0a15c853f82672569527579 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000316.json @@ -0,0 +1,70 @@ +{ + "episode_index": 316, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with handle, give it a turn, and hang it onto the dark gray angled rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000317.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..cc13c51296b2450fec7d696e72f32febed09ec26 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000317.json @@ -0,0 +1,70 @@ +{ + "episode_index": 317, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build with one arm, rotate it, and hang it onto the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000318.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab6508ecb105d9b77889d3ecddff651153358f3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000318.json @@ -0,0 +1,70 @@ +{ + "episode_index": 318, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, turn it, place it back, and move it onto the metal rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000319.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000319.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f6146cb3e38815fe08a184f849df068fffd0f1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000319.json @@ -0,0 +1,70 @@ +{ + "episode_index": 319, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical black mug, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000320.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000320.json new file mode 100644 index 0000000000000000000000000000000000000000..16bfe6fb7735bbdd76e0220305c83ded14f2cce4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000320.json @@ -0,0 +1,70 @@ +{ + "episode_index": 320, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the light beige ceramic drinking mug, rotate it, place it, then hang it onto the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000321.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000321.json new file mode 100644 index 0000000000000000000000000000000000000000..90daf9371ea0e5b7a0c33a1efc1d8644c5078190 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000321.json @@ -0,0 +1,70 @@ +{ + "episode_index": 321, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the printed white ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000322.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000322.json new file mode 100644 index 0000000000000000000000000000000000000000..21c1930314dc4b394b2c54ab4f1731d8cc4283d7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000322.json @@ -0,0 +1,70 @@ +{ + "episode_index": 322, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.", + "num_frames": 395, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 394, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 329, + "arm": "right", + "kind": "open", + "start_frame": 322, + "end_frame": 336 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000323.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000323.json new file mode 100644 index 0000000000000000000000000000000000000000..9f61dcd6db3b75b99304576715b4fe029a588fb9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000323.json @@ -0,0 +1,70 @@ +{ + "episode_index": 323, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug with printed logo from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000324.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000324.json new file mode 100644 index 0000000000000000000000000000000000000000..0d320f88e0fa74f65bcc15ff4443bd5f0ba271de --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000324.json @@ -0,0 +1,70 @@ +{ + "episode_index": 324, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium light mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000325.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000325.json new file mode 100644 index 0000000000000000000000000000000000000000..71ca571875c586f6f77d08f2a3ff5c5028bef2a7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000325.json @@ -0,0 +1,70 @@ +{ + "episode_index": 325, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with prints, rotate it, and attach it to the medium rack with protruding rods after setting it down.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000326.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000326.json new file mode 100644 index 0000000000000000000000000000000000000000..7a22cda71c9c5eb253ab1b5f31a94a9a53d94a17 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000326.json @@ -0,0 +1,70 @@ +{ + "episode_index": 326, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the plain glossy mug from the table, turn it, set it down, and attach it to the smooth rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000327.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..63de674bda150d86d6a6bd667cdcde8523384652 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000327.json @@ -0,0 +1,70 @@ +{ + "episode_index": 327, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the cylindrical black mug, rotate it, place it on the table, and hook it onto the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000328.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000328.json new file mode 100644 index 0000000000000000000000000000000000000000..199b966f83b0f188735e11a567ecf1b54c278c7a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000328.json @@ -0,0 +1,70 @@ +{ + "episode_index": 328, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the ceramic mug smooth beige surface, rotate it, put it down, then hook onto the metal rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000329.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..07c539644580c5e5e40662c8dc3682ad4734e766 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000329.json @@ -0,0 +1,70 @@ +{ + "episode_index": 329, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the angular rack with slanted support rod.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000330.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000330.json new file mode 100644 index 0000000000000000000000000000000000000000..f7eb68299e869ce5c7ed8b435e5dbe49f6fa35df --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000330.json @@ -0,0 +1,70 @@ +{ + "episode_index": 330, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the medium mug with blue design, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 356, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000331.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000331.json new file mode 100644 index 0000000000000000000000000000000000000000..d66bbfc0d0f70839c3d59a6ff0b001a34d1cb4d1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000331.json @@ -0,0 +1,70 @@ +{ + "episode_index": 331, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth ceramic mug, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000332.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000332.json new file mode 100644 index 0000000000000000000000000000000000000000..90a82569b6bbf9a4aa03d54f01d62e338516d69f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000332.json @@ -0,0 +1,70 @@ +{ + "episode_index": 332, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the plain glossy mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000333.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000333.json new file mode 100644 index 0000000000000000000000000000000000000000..674f97e6e14eedd671a967f08bee4751496c19c8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000333.json @@ -0,0 +1,70 @@ +{ + "episode_index": 333, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige drinking mug, rotate it, set it down, then hang the light beige drinking mug onto the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000334.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000334.json new file mode 100644 index 0000000000000000000000000000000000000000..345c2db259d29fbf3e84e9d174c8ea408913ff4d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000334.json @@ -0,0 +1,70 @@ +{ + "episode_index": 334, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with glossy beige finish, rotate it, place it in the middle, and hang it on the smooth rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000335.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000335.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f0f6ccd8ef18ea2929c12bf3e38ba47e4f4ef8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000335.json @@ -0,0 +1,70 @@ +{ + "episode_index": 335, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug with black finish, twist it, set it back, and secure it onto the metallic rack with smooth finish.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 221, + "arm": "right", + "kind": "close", + "start_frame": 214, + "end_frame": 228 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000336.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000336.json new file mode 100644 index 0000000000000000000000000000000000000000..f79a6c628e1f25585a0aba85fd6fcf7cf24cb4cb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000336.json @@ -0,0 +1,70 @@ +{ + "episode_index": 336, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white ceramic mug with handle, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000337.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000337.json new file mode 100644 index 0000000000000000000000000000000000000000..636579c78ac7bac4a984d49a5b5cb881f577f8a8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000337.json @@ -0,0 +1,70 @@ +{ + "episode_index": 337, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug for holding liquid, rotate it, and attach it to the smooth dark gray rack after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000338.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000338.json new file mode 100644 index 0000000000000000000000000000000000000000..1855f2bb417e3e8d81d2287eca03cfa87d45c428 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000338.json @@ -0,0 +1,70 @@ +{ + "episode_index": 338, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with yellow chicken image from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000339.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000339.json new file mode 100644 index 0000000000000000000000000000000000000000..3913cf2dc6e77b61b694d016449a41e80acf3538 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000339.json @@ -0,0 +1,70 @@ +{ + "episode_index": 339, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the brown mug for drinking, turn it around, put it back, then attach it to the dark gray angled rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000340.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000340.json new file mode 100644 index 0000000000000000000000000000000000000000..1b1843d04d5a421193e7c1a8de48a64e35306ab2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000340.json @@ -0,0 +1,70 @@ +{ + "episode_index": 340, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000341.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000341.json new file mode 100644 index 0000000000000000000000000000000000000000..521d8c78cacb36f68fb72b5cfc7f0f16b28c8a08 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000341.json @@ -0,0 +1,70 @@ +{ + "episode_index": 341, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the curved handle mug, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000342.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000342.json new file mode 100644 index 0000000000000000000000000000000000000000..4457a222ba5a13280784135abdd9429ef326d4af --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000342.json @@ -0,0 +1,70 @@ +{ + "episode_index": 342, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000343.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000343.json new file mode 100644 index 0000000000000000000000000000000000000000..e86b1f2c5f30d9917a91d19df44f5b1e9d6644f7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000343.json @@ -0,0 +1,70 @@ +{ + "episode_index": 343, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with rounded sturdy handle, turn it around, set it in the middle, and place it on the metal rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000344.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000344.json new file mode 100644 index 0000000000000000000000000000000000000000..46a69b5648119ca07952a1e50c20bd168fc93658 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000344.json @@ -0,0 +1,70 @@ +{ + "episode_index": 344, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the medium-sized smooth green Starbucks mug, turn it, place it down, and hang it on the dark gray angled rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000345.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000345.json new file mode 100644 index 0000000000000000000000000000000000000000..6210acd26e6c20e0c98be2a139a20ab4f418b1db --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000345.json @@ -0,0 +1,70 @@ +{ + "episode_index": 345, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the smooth ceramic beige mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000346.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000346.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7f0c2bf5c56280a0d2bfdbd685555dc60d35b0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000346.json @@ -0,0 +1,70 @@ +{ + "episode_index": 346, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical beige ceramic mug, give it a turn, and hang it onto the smooth dark gray rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000347.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000347.json new file mode 100644 index 0000000000000000000000000000000000000000..76e92f1955176cbbbe0c5447ffa783d8166b771b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000347.json @@ -0,0 +1,70 @@ +{ + "episode_index": 347, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug for hot drinks, turn it around, put it back, then attach it to the metal rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000348.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..dd83604a708c8b406980e39461b2d9ee8b626477 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000348.json @@ -0,0 +1,70 @@ +{ + "episode_index": 348, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium mug fits in hand, flip it, set it down, and then attach it to the dark gray rack.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000349.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000349.json new file mode 100644 index 0000000000000000000000000000000000000000..7d848add437a023fbb81efa5bafb3e9bca3e208f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000349.json @@ -0,0 +1,70 @@ +{ + "episode_index": 349, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000350.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000350.json new file mode 100644 index 0000000000000000000000000000000000000000..c25cf4b98a5799b090a646651e65b6547c1d0acd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000350.json @@ -0,0 +1,70 @@ +{ + "episode_index": 350, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug with smooth surface, turn it around, put it back, then attach it to the smooth rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000351.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000351.json new file mode 100644 index 0000000000000000000000000000000000000000..e0376efdf5306e74f5d5a66b7ccddd8ec27307e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000351.json @@ -0,0 +1,70 @@ +{ + "episode_index": 351, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug for holding liquid from the table, rotate it, place it, and then hang it onto the dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000352.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..225215550be200de8bd961bd2592b9aeb6755758 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000352.json @@ -0,0 +1,70 @@ +{ + "episode_index": 352, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the solid black ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 147, + "end_frame": 350, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000353.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdb181dc4adfaa459c7910bca533f1fe626e1de --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000353.json @@ -0,0 +1,70 @@ +{ + "episode_index": 353, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with cartoon design from the table, rotate it, place it, and then hang it onto the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000354.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000354.json new file mode 100644 index 0000000000000000000000000000000000000000..55c11832dfbdd56c07f60bcfa7bce6050e8f148a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000354.json @@ -0,0 +1,70 @@ +{ + "episode_index": 354, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000355.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000355.json new file mode 100644 index 0000000000000000000000000000000000000000..12c958bd3cf02d1dba590e9524a9d744549433f2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000355.json @@ -0,0 +1,70 @@ +{ + "episode_index": 355, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige ceramic mug from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000356.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000356.json new file mode 100644 index 0000000000000000000000000000000000000000..bbb87a12bb607615bd594dbc71f1da9549ceed68 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000356.json @@ -0,0 +1,70 @@ +{ + "episode_index": 356, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the dark green ceramic cup from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000357.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000357.json new file mode 100644 index 0000000000000000000000000000000000000000..0b352720f50024cc383d9ded47efa94c2502e325 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000357.json @@ -0,0 +1,70 @@ +{ + "episode_index": 357, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light beige drinking mug, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.", + "num_frames": 372, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 158, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 159, + "end_frame": 371, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 79, + "arm": "left", + "kind": "close", + "start_frame": 72, + "end_frame": 86 + }, + { + "frame": 143, + "arm": "left", + "kind": "open", + "start_frame": 136, + "end_frame": 150 + }, + { + "frame": 249, + "arm": "right", + "kind": "close", + "start_frame": 242, + "end_frame": 256 + }, + { + "frame": 342, + "arm": "right", + "kind": "open", + "start_frame": 335, + "end_frame": 349 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000358.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000358.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c4eb81d2337961412c2cd1ec33b5b4211a69f1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000358.json @@ -0,0 +1,70 @@ +{ + "episode_index": 358, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the solid black ceramic mug, rotate it, place it, then hang it onto the smooth dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000359.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000359.json new file mode 100644 index 0000000000000000000000000000000000000000..dc55c20a7c850bd8c7e9fad13084cdf00873acc9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000359.json @@ -0,0 +1,70 @@ +{ + "episode_index": 359, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth black ceramic mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000360.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000360.json new file mode 100644 index 0000000000000000000000000000000000000000..936616b3f32f3e4c259b95cd81bb2fb84c65bbb2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000360.json @@ -0,0 +1,70 @@ +{ + "episode_index": 360, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with logo design on side, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000361.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000361.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea00cde54602fe8048ce61e92fc9f7f9f312090 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000361.json @@ -0,0 +1,70 @@ +{ + "episode_index": 361, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the bright blue coffee mug, twist it, set it back, and secure it onto the angled rack with long and short rods.", + "num_frames": 373, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 154, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 155, + "end_frame": 372, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 238, + "arm": "right", + "kind": "close", + "start_frame": 231, + "end_frame": 245 + }, + { + "frame": 343, + "arm": "right", + "kind": "open", + "start_frame": 336, + "end_frame": 350 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000362.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000362.json new file mode 100644 index 0000000000000000000000000000000000000000..db2941b81af75279d8219116d9932ae58dadabd6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000362.json @@ -0,0 +1,70 @@ +{ + "episode_index": 362, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the white mug, rotate it, and attach it to the angular rack with slanted support rod after setting it down.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000363.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000363.json new file mode 100644 index 0000000000000000000000000000000000000000..9a29030312d2b4e6c2a6344967227bb11f4498a1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000363.json @@ -0,0 +1,70 @@ +{ + "episode_index": 363, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with round handle, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000364.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000364.json new file mode 100644 index 0000000000000000000000000000000000000000..729537d43fa44ac5acfdd0d3d36187ff8d0bf616 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000364.json @@ -0,0 +1,70 @@ +{ + "episode_index": 364, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the basic mug in solid white, rotate it, place it in the center, then hang it on the rack with angular body.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000365.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000365.json new file mode 100644 index 0000000000000000000000000000000000000000..9df772b1fd9ad88c31c209a64f69461ed286d929 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000365.json @@ -0,0 +1,70 @@ +{ + "episode_index": 365, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium light mug, rotate it, place it back on the table, and hang it on the smooth rack afterward.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000366.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..628cb93145487abe6786a9d6543aeeb4c1309680 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000366.json @@ -0,0 +1,70 @@ +{ + "episode_index": 366, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the white mug with glossy finish, rotate it, set it down, and hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000367.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000367.json new file mode 100644 index 0000000000000000000000000000000000000000..87547e1a6ada1ae044223e63a5d4149617d79500 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000367.json @@ -0,0 +1,70 @@ +{ + "episode_index": 367, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the brown mug for drinking from the table, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000368.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000368.json new file mode 100644 index 0000000000000000000000000000000000000000..a9758bbb7018b32f817b7112c88214c673beaa0a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000368.json @@ -0,0 +1,70 @@ +{ + "episode_index": 368, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug for drinking with one arm, rotate it, and hang it onto the smooth rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000369.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000369.json new file mode 100644 index 0000000000000000000000000000000000000000..36713447ddef81136a65598673ec0de41c116510 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000369.json @@ -0,0 +1,70 @@ +{ + "episode_index": 369, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black mug from the table using one hand, rotate, and hang it on the rack with angular body.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000370.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000370.json new file mode 100644 index 0000000000000000000000000000000000000000..9c753acc83c832cc91fa0427c4ed57e26046ca90 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000370.json @@ -0,0 +1,70 @@ +{ + "episode_index": 370, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with logo design on side, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 350, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000371.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000371.json new file mode 100644 index 0000000000000000000000000000000000000000..53c4f03f46102d516e836b75167b9ba15b7b862b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000371.json @@ -0,0 +1,70 @@ +{ + "episode_index": 371, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized black mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000372.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000372.json new file mode 100644 index 0000000000000000000000000000000000000000..7a37c12a0b50bc4a1a2636ec1c677ab7ffc2cd45 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000372.json @@ -0,0 +1,70 @@ +{ + "episode_index": 372, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, turn it, place it back, and move it onto the dark gray angled rack with the right arm.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 347, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000373.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..60cb48b06056e68b78cd1491b44969ba081449fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000373.json @@ -0,0 +1,70 @@ +{ + "episode_index": 373, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light brown mug up, twist it, place it back, then hang it onto the smooth rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000374.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000374.json new file mode 100644 index 0000000000000000000000000000000000000000..448847b17aea42d5d20f95f6fa75deb02095e61e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000374.json @@ -0,0 +1,70 @@ +{ + "episode_index": 374, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige ceramic mug from the table, turn it, set it down, and attach it to the smooth dark gray rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000375.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..7d8e37e78bd6614d759dc0b77d3f47eb28ca26fd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000375.json @@ -0,0 +1,70 @@ +{ + "episode_index": 375, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the ceramic mug smooth outside, rotate it, and attach it to the metallic angular rack with rod pair after setting it down.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000376.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000376.json new file mode 100644 index 0000000000000000000000000000000000000000..4e93cf4eeeae9efa38dad8d10dc700677988286f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000376.json @@ -0,0 +1,70 @@ +{ + "episode_index": 376, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with blue print, rotate it, place it down, and hang it onto the metal rack with the right arm.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000377.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000377.json new file mode 100644 index 0000000000000000000000000000000000000000..86d96e3e6b6b001c3f4657c5b7548c53887735bd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000377.json @@ -0,0 +1,70 @@ +{ + "episode_index": 377, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical black mug, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000378.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000378.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f4d48dc3b03ac6ac9c76e72b5f791ac1bbf659 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000378.json @@ -0,0 +1,70 @@ +{ + "episode_index": 378, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with side handle, rotate it, place it in the middle, and hang it onto the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000379.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000379.json new file mode 100644 index 0000000000000000000000000000000000000000..95440a3aacbcbdc0626ad508fe52cce219500c8a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000379.json @@ -0,0 +1,70 @@ +{ + "episode_index": 379, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle, rotate it, set it on the table's center, then hang it onto the dark gray rack.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000380.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000380.json new file mode 100644 index 0000000000000000000000000000000000000000..e355715f73ed335628a87d86693f539ae0011750 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000380.json @@ -0,0 +1,70 @@ +{ + "episode_index": 380, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the white mug with glossy finish, turn it, place it, then hang on the smooth dark gray rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000381.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000381.json new file mode 100644 index 0000000000000000000000000000000000000000..d377a5c2132ea2a614e42f1d969132a44d26778d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000381.json @@ -0,0 +1,70 @@ +{ + "episode_index": 381, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium black mug with handle using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000382.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000382.json new file mode 100644 index 0000000000000000000000000000000000000000..a0687938000a6f68f8ff86e7d0f9563f3673e459 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000382.json @@ -0,0 +1,70 @@ +{ + "episode_index": 382, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the ceramic mug, turn it, place it centrally, then hang the ceramic mug onto the angular rack with slanted support rod.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 145, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 146, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 130, + "arm": "left", + "kind": "open", + "start_frame": 123, + "end_frame": 137 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000383.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000383.json new file mode 100644 index 0000000000000000000000000000000000000000..7446dd7c536827dc730e96e808a3a9f4365d5243 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000383.json @@ -0,0 +1,70 @@ +{ + "episode_index": 383, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side, rotate it, place it in the center, then hang it on the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000384.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000384.json new file mode 100644 index 0000000000000000000000000000000000000000..708e8359d51807a0e95807e6b7d64cff98b95250 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000384.json @@ -0,0 +1,70 @@ +{ + "episode_index": 384, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, and hang it onto the dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000385.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000385.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc239a489eefad45069eca52ba7565394b81f63 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000385.json @@ -0,0 +1,70 @@ +{ + "episode_index": 385, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000386.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000386.json new file mode 100644 index 0000000000000000000000000000000000000000..fab927de4ee9fb83617c859262f5a5d2477ead74 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000386.json @@ -0,0 +1,70 @@ +{ + "episode_index": 386, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with blue print, rotate it, set it down, then hang the mug with blue print onto the rack with angular body.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000387.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000387.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9289a13bf559aa2cb1144695bfa355a573c680 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000387.json @@ -0,0 +1,70 @@ +{ + "episode_index": 387, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000388.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000388.json new file mode 100644 index 0000000000000000000000000000000000000000..59931f0559c30f8110cc459d30f8e6ad757f988b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000388.json @@ -0,0 +1,70 @@ +{ + "episode_index": 388, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the light beige ceramic drinking mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000389.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000389.json new file mode 100644 index 0000000000000000000000000000000000000000..753ec1a48ab45261e3407bfc2845739944c47a32 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000389.json @@ -0,0 +1,70 @@ +{ + "episode_index": 389, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the round mug with one handle from the table, rotate it, place it in the center, then hang it onto the medium rack with protruding rods.", + "num_frames": 356, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 150, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 151, + "end_frame": 355, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 135, + "arm": "left", + "kind": "open", + "start_frame": 128, + "end_frame": 142 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 330, + "arm": "right", + "kind": "open", + "start_frame": 323, + "end_frame": 337 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000390.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000390.json new file mode 100644 index 0000000000000000000000000000000000000000..82f5eab5854830792edf58db44e60a6f582ac9b0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000390.json @@ -0,0 +1,70 @@ +{ + "episode_index": 390, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the bright blue coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000391.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000391.json new file mode 100644 index 0000000000000000000000000000000000000000..70f40265b042c88d7b149518101fcf3c3fa51013 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000391.json @@ -0,0 +1,70 @@ +{ + "episode_index": 391, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with cartoon design, turn it around, put it back, then attach it to the rack with two rods sticking out.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000392.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000392.json new file mode 100644 index 0000000000000000000000000000000000000000..6c17ff09047e95957f0485135a55f1e3faa7cbe0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000392.json @@ -0,0 +1,70 @@ +{ + "episode_index": 392, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug, rotate it, place it back on the table, and hang it on the metallic angular rack with rod pair afterward.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000393.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..a723f2942222dddaf9c469e7653991188b38b063 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000393.json @@ -0,0 +1,70 @@ +{ + "episode_index": 393, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the brown mug for drinking, turn it, place it centrally, then hang the brown mug for drinking onto the metal rack.", + "num_frames": 380, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 159, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 160, + "end_frame": 379, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 79, + "arm": "left", + "kind": "close", + "start_frame": 72, + "end_frame": 86 + }, + { + "frame": 144, + "arm": "left", + "kind": "open", + "start_frame": 137, + "end_frame": 151 + }, + { + "frame": 250, + "arm": "right", + "kind": "close", + "start_frame": 243, + "end_frame": 257 + }, + { + "frame": 350, + "arm": "right", + "kind": "open", + "start_frame": 343, + "end_frame": 357 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000394.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000394.json new file mode 100644 index 0000000000000000000000000000000000000000..d53b417d58f45dfc6e86a407b05ec9952844584f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000394.json @@ -0,0 +1,70 @@ +{ + "episode_index": 394, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium-sized smooth green Starbucks mug, rotate it, place it in the center, then hang it on the dark gray rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000395.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000395.json new file mode 100644 index 0000000000000000000000000000000000000000..6b05a47e670428e7acab160b4cbef4238ee3b73e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000395.json @@ -0,0 +1,70 @@ +{ + "episode_index": 395, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug glossy ceramic material, turn it around, put it back, then attach it to the medium rack with protruding rods.", + "num_frames": 361, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 360, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 226, + "arm": "right", + "kind": "close", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 331, + "arm": "right", + "kind": "open", + "start_frame": 324, + "end_frame": 338 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000396.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000396.json new file mode 100644 index 0000000000000000000000000000000000000000..e84219410e55f2cbb226b5f9e3ec3d783a53b007 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000396.json @@ -0,0 +1,70 @@ +{ + "episode_index": 396, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the hand-sized ceramic cylindrical mug, rotate it, set it down, then hang on the metallic rack with smooth finish.", + "num_frames": 347, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 346, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000397.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000397.json new file mode 100644 index 0000000000000000000000000000000000000000..0d4f1b625cc5fb640bcbdb49035e2d1782c023cd --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000397.json @@ -0,0 +1,70 @@ +{ + "episode_index": 397, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth white mug, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000398.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000398.json new file mode 100644 index 0000000000000000000000000000000000000000..6429810e9d2f789f53018256fda4384affa1cec0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000398.json @@ -0,0 +1,70 @@ +{ + "episode_index": 398, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug with handle, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000399.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000399.json new file mode 100644 index 0000000000000000000000000000000000000000..2056723020219cd9a3328972c4c4aa992f705c84 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000399.json @@ -0,0 +1,70 @@ +{ + "episode_index": 399, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the green mug with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000400.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000400.json new file mode 100644 index 0000000000000000000000000000000000000000..24628011d7e3196c9347bf2f94b7634aacda82d2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000400.json @@ -0,0 +1,70 @@ +{ + "episode_index": 400, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with rounded base from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000401.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000401.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d7912745ae7630c5217429bd07661a2596689c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000401.json @@ -0,0 +1,70 @@ +{ + "episode_index": 401, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown medium-sized ceramic mug, rotate it, place it down, and hang it onto the dark gray angled rack with the right arm.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 351, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 322, + "arm": "right", + "kind": "open", + "start_frame": 315, + "end_frame": 329 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000402.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000402.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf02b06d4630b53e656d1c31a319b4e89386381 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000402.json @@ -0,0 +1,70 @@ +{ + "episode_index": 402, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the basic mug in solid white, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000403.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000403.json new file mode 100644 index 0000000000000000000000000000000000000000..0609023c426c85a0969ffb12fdbbac9347408610 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000403.json @@ -0,0 +1,70 @@ +{ + "episode_index": 403, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for drinking liquids, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000404.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000404.json new file mode 100644 index 0000000000000000000000000000000000000000..ad1d6c05400af039ebd78f130bbaf9f020843f04 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000404.json @@ -0,0 +1,70 @@ +{ + "episode_index": 404, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the starbucks green mug, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 323, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000405.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000405.json new file mode 100644 index 0000000000000000000000000000000000000000..9b20a67db39ede88bf59a3d3cdc67532c399b187 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000405.json @@ -0,0 +1,70 @@ +{ + "episode_index": 405, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the green drinking mug, rotate it, place it, then hang it onto the rack with two rods sticking out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000406.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000406.json new file mode 100644 index 0000000000000000000000000000000000000000..2d831efed2fd6d6b644d18bb8f9cbe527b0dec46 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000406.json @@ -0,0 +1,70 @@ +{ + "episode_index": 406, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the ceramic mug, rotate it, and attach it to the metallic rack with smooth finish after setting it down.", + "num_frames": 388, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 387, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000407.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000407.json new file mode 100644 index 0000000000000000000000000000000000000000..0aeb518f4ad392740959fba45a0fb20b21c79dc1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000407.json @@ -0,0 +1,70 @@ +{ + "episode_index": 407, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug, turn it around, set it in the middle, and place it on the dark gray rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000408.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000408.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bb7839817585e686080966ad087b3699c0f9fc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000408.json @@ -0,0 +1,70 @@ +{ + "episode_index": 408, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the medium beige mug, spin it, place it down, then use the right arm to hang it on the medium rack with protruding rods.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 345, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000409.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000409.json new file mode 100644 index 0000000000000000000000000000000000000000..4c91d59fdf631eaafa65f9adbbae8c397814b006 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000409.json @@ -0,0 +1,70 @@ +{ + "episode_index": 409, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with blue design from the table using one hand, rotate, and hang it on the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000410.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000410.json new file mode 100644 index 0000000000000000000000000000000000000000..4a91635b2cb4e1baf055c66e4ffa8c1feaffe849 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000410.json @@ -0,0 +1,70 @@ +{ + "episode_index": 410, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug, rotate it, place it, then hang it onto the angled rack with long and short rods.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000411.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000411.json new file mode 100644 index 0000000000000000000000000000000000000000..681c2cebb844c5243dc9a1f1af58abfa028b9f0c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000411.json @@ -0,0 +1,70 @@ +{ + "episode_index": 411, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the starbucks green mug, give it a turn, and hang it onto the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000412.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000412.json new file mode 100644 index 0000000000000000000000000000000000000000..13384d656b32f9ad5975915fe6dfc1f831324171 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000412.json @@ -0,0 +1,70 @@ +{ + "episode_index": 412, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the basic mug in solid white, rotate it, place it on the table, and hook it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000413.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000413.json new file mode 100644 index 0000000000000000000000000000000000000000..994fcc8ce4256eeec9ea4dae776e7293e50ba73c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000413.json @@ -0,0 +1,70 @@ +{ + "episode_index": 413, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000414.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000414.json new file mode 100644 index 0000000000000000000000000000000000000000..cb029ce92df04cdcef5b34249af0289b6c1d5d91 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000414.json @@ -0,0 +1,70 @@ +{ + "episode_index": 414, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the light brown mug with handle, turn it, place it, then hang on the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000415.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000415.json new file mode 100644 index 0000000000000000000000000000000000000000..152d472067625d35e8f8c2dfff04f90a46ee1c6f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000415.json @@ -0,0 +1,70 @@ +{ + "episode_index": 415, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with logo design on side from the table, rotate it, place it, and hang it onto the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000416.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000416.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba7b3384ba8025fee3abbc0fc340a1d0e7136bf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000416.json @@ -0,0 +1,70 @@ +{ + "episode_index": 416, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with prints from the table, spin it, place it in the center, then hang it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000417.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000417.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5467e60b0578b4bc63f34cd9a2d3e198c08b89 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000417.json @@ -0,0 +1,70 @@ +{ + "episode_index": 417, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the palm-sized mug glossy black body from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000418.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000418.json new file mode 100644 index 0000000000000000000000000000000000000000..df1b097898593d4bcc72d6f30381d4edac073336 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000418.json @@ -0,0 +1,70 @@ +{ + "episode_index": 418, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the glossy black mug medium-sized for drinking, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000419.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000419.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed29577490a0f2fb88be7779d177e0a5502a6f1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000419.json @@ -0,0 +1,70 @@ +{ + "episode_index": 419, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the solid black ceramic mug from the table, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000420.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000420.json new file mode 100644 index 0000000000000000000000000000000000000000..4f34af21fe30111fe23de0711b0a5c735bb587b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000420.json @@ -0,0 +1,70 @@ +{ + "episode_index": 420, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with thick sturdy handle, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000421.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000421.json new file mode 100644 index 0000000000000000000000000000000000000000..96ea8c8bd12fe284c60a9d99d1f9ada0231de6ae --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000421.json @@ -0,0 +1,70 @@ +{ + "episode_index": 421, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, twist it, set it back, and secure it onto the smooth rack.", + "num_frames": 351, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 350, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 217, + "arm": "right", + "kind": "close", + "start_frame": 210, + "end_frame": 224 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000422.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000422.json new file mode 100644 index 0000000000000000000000000000000000000000..f9635c73448286d986b1a4e97b9bd291b3070d54 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000422.json @@ -0,0 +1,70 @@ +{ + "episode_index": 422, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the black mug with smooth surface, rotate it, set it down, then hang the black mug with smooth surface onto the dark gray angled rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000423.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000423.json new file mode 100644 index 0000000000000000000000000000000000000000..c20abcb3e2c2735a3e0a456e7cf6e3bf531d7c41 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000423.json @@ -0,0 +1,70 @@ +{ + "episode_index": 423, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with glossy texture, rotate it, and attach it to the rack with angular body after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000424.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000424.json new file mode 100644 index 0000000000000000000000000000000000000000..e72ad4e70f90120957d706b257b335c3f35a4760 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000424.json @@ -0,0 +1,70 @@ +{ + "episode_index": 424, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000425.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000425.json new file mode 100644 index 0000000000000000000000000000000000000000..a9bb46c68f18f1e930f1b35c64e3eee7d08561af --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000425.json @@ -0,0 +1,70 @@ +{ + "episode_index": 425, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the white mug with glossy finish, rotate it, place it down, then your right arm to hang it onto the medium rack with protruding rods.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000426.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..ba26299e0668b934d3192a3643603df4a73797ea --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000426.json @@ -0,0 +1,70 @@ +{ + "episode_index": 426, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the Starbucks branded coffee mug, turn it, place it centrally, then hang the Starbucks branded coffee mug onto the angled rack with long and short rods.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000427.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000427.json new file mode 100644 index 0000000000000000000000000000000000000000..7082610a32ff0686a0a388baa239a5f16211d3e3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000427.json @@ -0,0 +1,70 @@ +{ + "episode_index": 427, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with yellow chicken image, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000428.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000428.json new file mode 100644 index 0000000000000000000000000000000000000000..847223962eaf22e1d76b52552da87442cce4dc8a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000428.json @@ -0,0 +1,70 @@ +{ + "episode_index": 428, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the bright blue coffee mug, rotate it, put it down, then hook onto the rack with two rods sticking out.", + "num_frames": 363, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 362, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 334, + "arm": "right", + "kind": "open", + "start_frame": 327, + "end_frame": 341 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000429.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000429.json new file mode 100644 index 0000000000000000000000000000000000000000..bc68335a23d7ba83a23a523ba012b0d2d38ab95f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000429.json @@ -0,0 +1,70 @@ +{ + "episode_index": 429, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized mug with blue artwork from the table, turn it, set it down, and attach it to the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000430.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000430.json new file mode 100644 index 0000000000000000000000000000000000000000..dae18bfd67d600d3e558284daf3932ba66ed8acb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000430.json @@ -0,0 +1,70 @@ +{ + "episode_index": 430, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug used for drinks, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000431.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000431.json new file mode 100644 index 0000000000000000000000000000000000000000..c215f9f1feb03fd9405659485c3017886da63c33 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000431.json @@ -0,0 +1,70 @@ +{ + "episode_index": 431, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the smooth ceramic beige mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000432.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000432.json new file mode 100644 index 0000000000000000000000000000000000000000..412844664903be510983260eb6ef06680c228f6d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000432.json @@ -0,0 +1,70 @@ +{ + "episode_index": 432, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug shiny black exterior, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000433.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000433.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd96fbfaccf0df0d2730b2607c17427350a0938 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000433.json @@ -0,0 +1,70 @@ +{ + "episode_index": 433, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with glossy texture from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000434.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000434.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ca88fc2d76d2bf2c136283e57d45f7b0966075 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000434.json @@ -0,0 +1,70 @@ +{ + "episode_index": 434, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with glossy beige finish, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000435.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000435.json new file mode 100644 index 0000000000000000000000000000000000000000..00f7cda3fe0d89419b42bea802539b8f452dd8ee --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000435.json @@ -0,0 +1,70 @@ +{ + "episode_index": 435, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, turn it around, put it back, then attach it to the medium rack with protruding rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000436.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000436.json new file mode 100644 index 0000000000000000000000000000000000000000..875c1e5a1bdeb7067189bdc80a1959ee5834d39f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000436.json @@ -0,0 +1,70 @@ +{ + "episode_index": 436, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000437.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000437.json new file mode 100644 index 0000000000000000000000000000000000000000..49ce343e2743d5c2f97346611eb402059f6b9dc4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000437.json @@ -0,0 +1,70 @@ +{ + "episode_index": 437, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with curved handle from the table, rotate it, place it in the middle, and hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000438.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000438.json new file mode 100644 index 0000000000000000000000000000000000000000..fa50103107611bbf9103b6617023c6e37c9b97a8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000438.json @@ -0,0 +1,70 @@ +{ + "episode_index": 438, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug for hot drinks, rotate it, set it down, then hang the ceramic mug for hot drinks onto the metallic angular rack with rod pair.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 369, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000439.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000439.json new file mode 100644 index 0000000000000000000000000000000000000000..280b1d87cb964ea5562d21f6428d26c691fca819 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000439.json @@ -0,0 +1,70 @@ +{ + "episode_index": 439, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the black mug glossy ceramic material, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 363, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 362, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 224, + "arm": "right", + "kind": "close", + "start_frame": 217, + "end_frame": 231 + }, + { + "frame": 332, + "arm": "right", + "kind": "open", + "start_frame": 325, + "end_frame": 339 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000440.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000440.json new file mode 100644 index 0000000000000000000000000000000000000000..aa3a296d0f2eb89c248fc31024f9f8b2c1f25ea4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000440.json @@ -0,0 +1,70 @@ +{ + "episode_index": 440, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light beige ceramic drinking mug using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000441.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000441.json new file mode 100644 index 0000000000000000000000000000000000000000..f2cd0eaf66e7e265eff12764369c7e516ae8eae3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000441.json @@ -0,0 +1,70 @@ +{ + "episode_index": 441, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the dark gray rack.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000442.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000442.json new file mode 100644 index 0000000000000000000000000000000000000000..4496ff86247b217e0f6ac7b78d045de118a1ca43 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000442.json @@ -0,0 +1,70 @@ +{ + "episode_index": 442, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug, rotate it, set it down, then hang the ceramic mug onto the rack with angular body.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000443.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000443.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6af7b7f69d3a114d8c030bad2c2bcfb8098ffb --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000443.json @@ -0,0 +1,70 @@ +{ + "episode_index": 443, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with curved black handle from the table, turn it, put it down in the middle, then hang it onto the angular rack with slanted support rod.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000444.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000444.json new file mode 100644 index 0000000000000000000000000000000000000000..6c17d3176598a12a53ddc89d20c384130099f618 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000444.json @@ -0,0 +1,70 @@ +{ + "episode_index": 444, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug from the table, turn it, set it down, and attach it to the medium rack with protruding rods.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000445.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000445.json new file mode 100644 index 0000000000000000000000000000000000000000..b73596ef7a33eb7e99597ac493a2ab50b8ce516b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000445.json @@ -0,0 +1,70 @@ +{ + "episode_index": 445, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000446.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000446.json new file mode 100644 index 0000000000000000000000000000000000000000..05f179e26eceda376e4f0bae859b563196a0bbb4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000446.json @@ -0,0 +1,70 @@ +{ + "episode_index": 446, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium black mug with handle, rotate it, place it on the table, and hook it onto the rack with angular body.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000447.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000447.json new file mode 100644 index 0000000000000000000000000000000000000000..7e38a8c73f2e4bfed263719e9f597d3093f8e26a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000447.json @@ -0,0 +1,70 @@ +{ + "episode_index": 447, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light beige drinking mug with one arm, rotate it, and hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000448.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000448.json new file mode 100644 index 0000000000000000000000000000000000000000..6e552f96bdace5e559a81afb22a4842d9bdb276e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000448.json @@ -0,0 +1,70 @@ +{ + "episode_index": 448, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the ceramic mug for hot drinks, flip it, set it down, and then attach it to the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000449.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000449.json new file mode 100644 index 0000000000000000000000000000000000000000..cef9b9d7568e9db4f693b0648bc6a6beeb035f89 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000449.json @@ -0,0 +1,70 @@ +{ + "episode_index": 449, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the smooth black ceramic mug, rotate it, set it down, then hang the smooth black ceramic mug onto the smooth rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000450.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000450.json new file mode 100644 index 0000000000000000000000000000000000000000..b96fd09d9101047ad0a2c169aa8fefe74fc304c6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000450.json @@ -0,0 +1,70 @@ +{ + "episode_index": 450, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with thick sturdy handle, twist it, set it back, and secure it onto the rack with angular body.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000451.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000451.json new file mode 100644 index 0000000000000000000000000000000000000000..8b8aff2318b77e056a13ed111c82f51f76923f73 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000451.json @@ -0,0 +1,70 @@ +{ + "episode_index": 451, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige ceramic drinking mug, flip it, set it down, and then attach it to the smooth rack.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 347, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000452.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000452.json new file mode 100644 index 0000000000000000000000000000000000000000..9f711aec8fcf2aa7d788752dee9d1bfa28e357b5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000452.json @@ -0,0 +1,70 @@ +{ + "episode_index": 452, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the light beige drinking mug, rotate it, set it down, then hang the light beige drinking mug onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000453.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000453.json new file mode 100644 index 0000000000000000000000000000000000000000..8b10c162092b83d619754ff5911c40b9dab2462f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000453.json @@ -0,0 +1,70 @@ +{ + "episode_index": 453, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium-sized smooth green Starbucks mug, give it a turn, and hang it onto the medium rack with protruding rods.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000454.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000454.json new file mode 100644 index 0000000000000000000000000000000000000000..e3d76cc7b7460a1f9d28d73bb8b8bc04edebdcb9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000454.json @@ -0,0 +1,70 @@ +{ + "episode_index": 454, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug from the table, turn it, put it down in the middle, then hang it onto the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000455.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000455.json new file mode 100644 index 0000000000000000000000000000000000000000..ae7714e53d686b022757242bf73065053b37d460 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000455.json @@ -0,0 +1,70 @@ +{ + "episode_index": 455, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the round mug with curved handle, turn it around, put it back, then attach it to the smooth dark gray rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 154, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 227, + "arm": "right", + "kind": "close", + "start_frame": 220, + "end_frame": 234 + }, + { + "frame": 321, + "arm": "right", + "kind": "open", + "start_frame": 314, + "end_frame": 328 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000456.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000456.json new file mode 100644 index 0000000000000000000000000000000000000000..c8cb61e73ee9ec338f06ad83623e57ac8cb49d27 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000456.json @@ -0,0 +1,70 @@ +{ + "episode_index": 456, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown mug for drinking, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000457.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000457.json new file mode 100644 index 0000000000000000000000000000000000000000..d91dd980eb7243589770d55e9bad06c99dcf6e8b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000457.json @@ -0,0 +1,70 @@ +{ + "episode_index": 457, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the brown mug, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 323, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 294, + "arm": "right", + "kind": "open", + "start_frame": 287, + "end_frame": 301 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000458.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000458.json new file mode 100644 index 0000000000000000000000000000000000000000..2644dc1c7139dc13db191a98c6d8ff5d31caed5f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000458.json @@ -0,0 +1,70 @@ +{ + "episode_index": 458, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug, rotate it, set it in the middle, then hang it on the metal rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000459.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..d91aee99ed04d1facaefb8d4ce7366351c587909 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000459.json @@ -0,0 +1,70 @@ +{ + "episode_index": 459, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug, turn it, place it back, and move it onto the metal rack with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000460.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000460.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c9ba775230b718e42562423fc35579e46f3812 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000460.json @@ -0,0 +1,70 @@ +{ + "episode_index": 460, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug, rotate it, place it on the table, and hook it onto the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000461.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000461.json new file mode 100644 index 0000000000000000000000000000000000000000..bbaf88f8a982a3dba5b62e15710765e8e773e27d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000461.json @@ -0,0 +1,70 @@ +{ + "episode_index": 461, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the solid black ceramic mug, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000462.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000462.json new file mode 100644 index 0000000000000000000000000000000000000000..db07234453f887daa7fa512d85b27726541bcc3c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000462.json @@ -0,0 +1,70 @@ +{ + "episode_index": 462, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the mug with blue print, turn it, place it centrally, then hang the mug with blue print onto the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000463.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000463.json new file mode 100644 index 0000000000000000000000000000000000000000..80ee2218398d626a9e79e03d97566511939ebbf5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000463.json @@ -0,0 +1,70 @@ +{ + "episode_index": 463, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the blue mug with solid texture, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 359, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 358, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 226, + "arm": "right", + "kind": "close", + "start_frame": 219, + "end_frame": 233 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000464.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000464.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e9686056007ca5b48a49a0f1abe40d6737c300 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000464.json @@ -0,0 +1,70 @@ +{ + "episode_index": 464, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000465.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000465.json new file mode 100644 index 0000000000000000000000000000000000000000..947f35ddfa6503ecb04630892dae3cd32ec9b921 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000465.json @@ -0,0 +1,70 @@ +{ + "episode_index": 465, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the cylindrical blue mug, turn it around, put it back, then attach it to the smooth rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 225, + "arm": "right", + "kind": "close", + "start_frame": 218, + "end_frame": 232 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000466.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000466.json new file mode 100644 index 0000000000000000000000000000000000000000..59409b74a804fe3af596ade51ec7d5a89077d5c9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000466.json @@ -0,0 +1,70 @@ +{ + "episode_index": 466, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug for hot drinks, rotate it, place it, then hang it onto the dark gray angled rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000467.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000467.json new file mode 100644 index 0000000000000000000000000000000000000000..57907ae2ed8ced2d0a4cf0f4e0309a28e4a09ac7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000467.json @@ -0,0 +1,70 @@ +{ + "episode_index": 467, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the beige mug used for drinks, turn it, place it down, and hang it on the medium rack with protruding rods.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000468.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000468.json new file mode 100644 index 0000000000000000000000000000000000000000..5911aeda5b953cd0b45935cb98aa2ce97a644a16 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000468.json @@ -0,0 +1,70 @@ +{ + "episode_index": 468, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug, flip it, set it down, and then attach it to the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000469.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000469.json new file mode 100644 index 0000000000000000000000000000000000000000..fc03d6af448c2edaabafa701b820c7c9f1774a25 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000469.json @@ -0,0 +1,70 @@ +{ + "episode_index": 469, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build from the table, rotate it, place it in the center, then hang it onto the dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000470.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000470.json new file mode 100644 index 0000000000000000000000000000000000000000..03c816b76c66a7ec4b40cd3b0b38a1ef07ce3373 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000470.json @@ -0,0 +1,70 @@ +{ + "episode_index": 470, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium white mug with handle, rotate it, put it down in the table's center, then hang it onto the metal rack.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000471.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000471.json new file mode 100644 index 0000000000000000000000000000000000000000..469917d517c45a778fdfe54544bf59ac5327e428 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000471.json @@ -0,0 +1,70 @@ +{ + "episode_index": 471, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the medium beige mug, rotate it, set it down, and hang it onto the angular rack with slanted support rod.", + "num_frames": 324, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 323, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000472.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000472.json new file mode 100644 index 0000000000000000000000000000000000000000..d85e41974bf74b6622545bb10fff8d703702a674 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000472.json @@ -0,0 +1,70 @@ +{ + "episode_index": 472, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it on the table, and hook it onto the rack with two rods sticking out.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 147, + "end_frame": 356, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 222, + "arm": "right", + "kind": "close", + "start_frame": 215, + "end_frame": 229 + }, + { + "frame": 328, + "arm": "right", + "kind": "open", + "start_frame": 321, + "end_frame": 335 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000473.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000473.json new file mode 100644 index 0000000000000000000000000000000000000000..18d934cb4585bc050b9b335007a4a9779c863b05 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000473.json @@ -0,0 +1,70 @@ +{ + "episode_index": 473, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000474.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000474.json new file mode 100644 index 0000000000000000000000000000000000000000..15ddb140d26ccb445da67cb114c1af40a5fb5f71 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000474.json @@ -0,0 +1,70 @@ +{ + "episode_index": 474, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the palm-sized mug glossy black body from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000475.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..c42cee74ae52647da13890eed2ef335f64ec8913 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000475.json @@ -0,0 +1,70 @@ +{ + "episode_index": 475, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with logo design on side, rotate it, set it down, then hang on the dark gray angled rack.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 133, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 134, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 118, + "arm": "left", + "kind": "open", + "start_frame": 111, + "end_frame": 125 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000476.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000476.json new file mode 100644 index 0000000000000000000000000000000000000000..43d0b240338aadd8ef24bff1a97ceedccfba588e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000476.json @@ -0,0 +1,70 @@ +{ + "episode_index": 476, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical beige ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000477.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000477.json new file mode 100644 index 0000000000000000000000000000000000000000..2ebe8d945398b37dc87450978e723b3f9d097202 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000477.json @@ -0,0 +1,70 @@ +{ + "episode_index": 477, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the logo mug from the table, turn it, put it down in the middle, then hang it onto the smooth rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000478.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000478.json new file mode 100644 index 0000000000000000000000000000000000000000..e8553ce44a67110846c0077dbcf8effa01ce85b3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000478.json @@ -0,0 +1,70 @@ +{ + "episode_index": 478, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the medium mug with handle, turn it, place it centrally, then hang the medium mug with handle onto the metallic rack with smooth finish.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000479.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000479.json new file mode 100644 index 0000000000000000000000000000000000000000..593f43c680c32a6df9a38f8381132e26f79f51b7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000479.json @@ -0,0 +1,70 @@ +{ + "episode_index": 479, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the curved handle mug, give it a turn, and hang it onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000480.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000480.json new file mode 100644 index 0000000000000000000000000000000000000000..4e0a9265e9b05a42a1d96e859a73d54dd40fefde --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000480.json @@ -0,0 +1,70 @@ +{ + "episode_index": 480, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium mug with smooth texture from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000481.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000481.json new file mode 100644 index 0000000000000000000000000000000000000000..14272e12df7cf78bbfdcf23e933d871bd759db9c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000481.json @@ -0,0 +1,70 @@ +{ + "episode_index": 481, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the ceramic mug smooth beige surface, rotate it, place it, then hang it onto the rack with two rods sticking out.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000482.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000482.json new file mode 100644 index 0000000000000000000000000000000000000000..c1db2bb1d2fbd796f121fc1b3cc7e2eeab26c420 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000482.json @@ -0,0 +1,70 @@ +{ + "episode_index": 482, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with prints, turn it around, set it in the middle, and place it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000483.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000483.json new file mode 100644 index 0000000000000000000000000000000000000000..25b5d9f853370c454e85eb44e37c5f6210d976e7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000483.json @@ -0,0 +1,70 @@ +{ + "episode_index": 483, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the drinking mug shiny black exterior, rotate it, place it back on the table, and hang it on the angular rack with slanted support rod afterward.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000484.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000484.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe24d8c9f5a4673a8ab712ddd71e79e6e203057 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000484.json @@ -0,0 +1,70 @@ +{ + "episode_index": 484, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige mug from the table, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000485.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000485.json new file mode 100644 index 0000000000000000000000000000000000000000..af0d5b990a28a1348648d810f76561424aa34a76 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000485.json @@ -0,0 +1,70 @@ +{ + "episode_index": 485, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the black mug with smooth surface, turn it, place it down, and hang it on the dark gray angled rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 299, + "arm": "right", + "kind": "open", + "start_frame": 292, + "end_frame": 306 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000486.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000486.json new file mode 100644 index 0000000000000000000000000000000000000000..adb869bf9d2a1c0015341bd4b74b7d81f6186aca --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000486.json @@ -0,0 +1,70 @@ +{ + "episode_index": 486, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the cylindrical mug made of ceramic, rotate it, put it down in the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000487.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000487.json new file mode 100644 index 0000000000000000000000000000000000000000..d4bc51c3c426d8dc30a9238ac4ba83b6702a702e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000487.json @@ -0,0 +1,70 @@ +{ + "episode_index": 487, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the white mug with glossy finish, turn it, set it centrally, and use the other to hang it onto the rack with angular body.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000488.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000488.json new file mode 100644 index 0000000000000000000000000000000000000000..9f205253475ffb923793fb70f46a0a05dd95a7e2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000488.json @@ -0,0 +1,70 @@ +{ + "episode_index": 488, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it in the middle, and hang it onto the metal rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000489.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000489.json new file mode 100644 index 0000000000000000000000000000000000000000..7969bd08db3eb8fbe056518f1d804f8af3c4690a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000489.json @@ -0,0 +1,70 @@ +{ + "episode_index": 489, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the cylindrical coffee mug with handle, rotate it, place it, then hang it onto the smooth rack.", + "num_frames": 322, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 321, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 292, + "arm": "right", + "kind": "open", + "start_frame": 285, + "end_frame": 299 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000490.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000490.json new file mode 100644 index 0000000000000000000000000000000000000000..fbcd033d4e1b863257fdd878215ddc395556ad51 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000490.json @@ -0,0 +1,70 @@ +{ + "episode_index": 490, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug with cartoon design, rotate it, and attach it to the metal rack after setting it down.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000491.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000491.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1cc67e2cf8827c99b6ab1be1f771c5b9867aaf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000491.json @@ -0,0 +1,70 @@ +{ + "episode_index": 491, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug with rounded handle, twist it, set it back, and secure it onto the angled rack with long and short rods.", + "num_frames": 374, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 373, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000492.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000492.json new file mode 100644 index 0000000000000000000000000000000000000000..001a8db583ed9d40c905bd6eba0411abe61df6fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000492.json @@ -0,0 +1,70 @@ +{ + "episode_index": 492, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, turn it around, put it back, then attach it to the rack with two rods sticking out.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000493.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000493.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9a61a43a9d8330583f3b64826762cfd8a3b084 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000493.json @@ -0,0 +1,70 @@ +{ + "episode_index": 493, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with side handle, flip it, set it down, and then attach it to the medium rack with protruding rods.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000494.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000494.json new file mode 100644 index 0000000000000000000000000000000000000000..60e0b7943b5a3a1ac167c6de03e9b586182ddb1a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000494.json @@ -0,0 +1,70 @@ +{ + "episode_index": 494, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the light beige drinking mug, twist it, set it back, and secure it onto the rack with two rods sticking out.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000495.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000495.json new file mode 100644 index 0000000000000000000000000000000000000000..59b7f50300e6f0b0c37604d3211099cd56a1f242 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000495.json @@ -0,0 +1,70 @@ +{ + "episode_index": 495, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 58, + "arm": "left", + "kind": "close", + "start_frame": 51, + "end_frame": 65 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 317, + "arm": "right", + "kind": "open", + "start_frame": 310, + "end_frame": 324 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000496.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000496.json new file mode 100644 index 0000000000000000000000000000000000000000..dc11b628cdeddd8b3d90c3e938afe92d65be4a7f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000496.json @@ -0,0 +1,70 @@ +{ + "episode_index": 496, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with thick sturdy handle, spin it, place it down, then use the right arm to hang it on the angular rack with slanted support rod.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000497.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000497.json new file mode 100644 index 0000000000000000000000000000000000000000..03a577250dcc1ddb4f20de2466993b632963e770 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000497.json @@ -0,0 +1,70 @@ +{ + "episode_index": 497, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the medium light mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 328, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 327, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000498.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000498.json new file mode 100644 index 0000000000000000000000000000000000000000..3026115e35452d248022dc03003c1135de3447d3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000498.json @@ -0,0 +1,70 @@ +{ + "episode_index": 498, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with round handle, rotate it, set it on the table's center, then hang it onto the rack with angular body.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000499.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000499.json new file mode 100644 index 0000000000000000000000000000000000000000..dafa3a3fa95e110ddb8832d36ccab694c873c907 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic/episode_000499.json @@ -0,0 +1,70 @@ +{ + "episode_index": 499, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the light beige ceramic drinking mug from the table, rotate it, place it, and hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..57a689d3187aaf37e4b99881b430fedb0c2718c4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000000.json @@ -0,0 +1,70 @@ +{ + "episode_index": 0, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the ceramic mug with cartoons, rotate it, set it down, then hang on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..04c8dfd41acd3caac449a771a9fc1804737f4c81 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000001.json @@ -0,0 +1,70 @@ +{ + "episode_index": 1, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the black mug, give it a turn, and hang it onto the smooth rack.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..623e7b62daa3f1c728f81e1e0186102551a36073 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000002.json @@ -0,0 +1,70 @@ +{ + "episode_index": 2, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 371, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 370, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d89cb181424eec9d0ccafd1aef04a574546f39d6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000003.json @@ -0,0 +1,70 @@ +{ + "episode_index": 3, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the curved handle mug, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..91a7d008c32089f0dc8b6f7902a0ff4e866e4bb0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000004.json @@ -0,0 +1,70 @@ +{ + "episode_index": 4, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it in the middle, and hang it onto the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..599014d0fc6d2f9c378dc43399529285261ece57 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000005.json @@ -0,0 +1,70 @@ +{ + "episode_index": 5, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..17968d5dab063049b9f3316449c392957c49c60b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000006.json @@ -0,0 +1,70 @@ +{ + "episode_index": 6, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the hand-sized mug with blue artwork from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..76cb96d4777f77a007c43e2947c7a30fa6eb63c6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000007.json @@ -0,0 +1,70 @@ +{ + "episode_index": 7, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the mug with glossy texture, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..6f43c8df51095664990acb0f5075ef8e0cb666bf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000008.json @@ -0,0 +1,70 @@ +{ + "episode_index": 8, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..59d2673c66817b39140f6eb0c62874a1780fb391 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000009.json @@ -0,0 +1,70 @@ +{ + "episode_index": 9, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the light beige ceramic drinking mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3e073c7741c8381574ad3fa385fd2d90835298 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000010.json @@ -0,0 +1,70 @@ +{ + "episode_index": 10, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug for liquids from the table, rotate it, place it in the center, then hang it onto the rack with two rods sticking out.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..af393de2cb20121612c3d292a37ab8ac1b296b6f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000011.json @@ -0,0 +1,70 @@ +{ + "episode_index": 11, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the basic mug in solid white, rotate it, put it down, then hook onto the angular rack with slanted support rod.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json new file mode 100644 index 0000000000000000000000000000000000000000..cb97c1c377a318a9c1ec423edacf998e70d43116 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000012.json @@ -0,0 +1,70 @@ +{ + "episode_index": 12, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the printed white ceramic mug, rotate it, set it in the middle, then hang it on the metal rack.", + "num_frames": 340, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 339, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..f64d6d6470073b838b2da84227aede5334e749e1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000013.json @@ -0,0 +1,70 @@ +{ + "episode_index": 13, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the mug with rounded handle, rotate it, place it down, then your right arm to hang it onto the metallic rack with smooth finish.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..7f13b392b14dd44bf05d8cc8e5f1412dbeca7534 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000014.json @@ -0,0 +1,70 @@ +{ + "episode_index": 14, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug shiny black exterior, flip it, set it down, and then attach it to the angled rack with long and short rods.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..36dd63b67bfafe44dcc0ae38c99b4bf0654af2a0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000015.json @@ -0,0 +1,70 @@ +{ + "episode_index": 15, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the cylindrical mug with black finish, turn it, place it, then hang on the metallic rack with smooth finish.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000016.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd091e6321b50bdc0173567a61288d1de9c26c9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000016.json @@ -0,0 +1,70 @@ +{ + "episode_index": 16, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the mug with logo design on side, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..71d94369c4881dc0f23e50daa4b85057490b0690 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000017.json @@ -0,0 +1,70 @@ +{ + "episode_index": 17, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with logo design on side from the table using one hand, rotate, and hang it on the metallic rack with smooth finish.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..98ea140b400dfd97122e1e551782df1ab0bf309c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000018.json @@ -0,0 +1,70 @@ +{ + "episode_index": 18, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the light beige drinking mug, rotate it, put it down, then hook onto the metallic rack with smooth finish.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json new file mode 100644 index 0000000000000000000000000000000000000000..92a43bcfff7e3aef28b7aa38cf4fb09a3dfe8d60 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000019.json @@ -0,0 +1,70 @@ +{ + "episode_index": 19, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the white mug, twist it, set it back, and secure it onto the dark gray angled rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a6f1cb888cfda26f8b9e4aae77c88831fee6d7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000020.json @@ -0,0 +1,70 @@ +{ + "episode_index": 20, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy mug for beverages from the table, rotate it, place it, and then hang it onto the metal rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..e4686563ef5cb42941d0c50b6e58a9e0ba5fb150 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000021.json @@ -0,0 +1,70 @@ +{ + "episode_index": 21, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium beige mug, rotate it, place it down, and hang it onto the smooth dark gray rack with the right arm.", + "num_frames": 345, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 344, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 316, + "arm": "right", + "kind": "open", + "start_frame": 309, + "end_frame": 323 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f17c33ff29268d69a279c2dcef5bca499ea605 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000022.json @@ -0,0 +1,70 @@ +{ + "episode_index": 22, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug with prints from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..124ecc59a9d09bbbef867f006f3b8f9b5c8b0b46 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000023.json @@ -0,0 +1,70 @@ +{ + "episode_index": 23, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug smooth beige surface, turn it around, put it back, then attach it to the dark gray rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..7f55a4df4384b7200fcbd563aac04188361a0f07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000024.json @@ -0,0 +1,70 @@ +{ + "episode_index": 24, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the ceramic mug with printed logo from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 376, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 375, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 229, + "arm": "right", + "kind": "close", + "start_frame": 222, + "end_frame": 236 + }, + { + "frame": 341, + "arm": "right", + "kind": "open", + "start_frame": 334, + "end_frame": 348 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..423c64e8284684ba720e1adea62ded581f07da07 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000025.json @@ -0,0 +1,70 @@ +{ + "episode_index": 25, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table using one hand, rotate, and hang it on the angled rack with long and short rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d4c2ecda8df3b5552feae57e22f135a57a8c1b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000026.json @@ -0,0 +1,70 @@ +{ + "episode_index": 26, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the smooth white mug using your left arm, turn it, set it on the table, and hang it on the angular rack with slanted support rod with the right arm.", + "num_frames": 346, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 345, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccf05f3cdb3fccf422cbe2b7c2ceb5a6e74224f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000027.json @@ -0,0 +1,70 @@ +{ + "episode_index": 27, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the drinking mug, turn it, place it down, and hang it on the metallic rack with smooth finish.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..4d2c9241254bb898380259d1895395655cbeef54 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000028.json @@ -0,0 +1,70 @@ +{ + "episode_index": 28, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with rounded handle with one arm, rotate it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..c4fa496dfd3456b745d3e2ad1193279b991fe6c6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000029.json @@ -0,0 +1,70 @@ +{ + "episode_index": 29, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the medium-sized smooth green Starbucks mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json new file mode 100644 index 0000000000000000000000000000000000000000..6c083dec78f543034410bfed868d15dd4696314f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000030.json @@ -0,0 +1,70 @@ +{ + "episode_index": 30, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the beige mug polished ceramic build, turn it, place it, then hang on the rack with angular body.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..5b888bf4bacf0b4a1a898df999230de854dcde9a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000031.json @@ -0,0 +1,70 @@ +{ + "episode_index": 31, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the mug with yellow chicken image, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json new file mode 100644 index 0000000000000000000000000000000000000000..591ff79e7df49a74af52cb5dc2d43bd916b0d1fe --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000032.json @@ -0,0 +1,70 @@ +{ + "episode_index": 32, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium-sized smooth green Starbucks mug, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 203, + "arm": "right", + "kind": "close", + "start_frame": 196, + "end_frame": 210 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json new file mode 100644 index 0000000000000000000000000000000000000000..3fcc8f61f945249df00f4e2196c1e28efc5e4839 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000033.json @@ -0,0 +1,70 @@ +{ + "episode_index": 33, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the medium beige mug, turn it, place it centrally, then hang the medium beige mug onto the metal rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..c543c529d30712659baa0784dfed7e28ef1d3e4e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000034.json @@ -0,0 +1,70 @@ +{ + "episode_index": 34, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with curved black handle, turn it, put it in the center, and transfer it to the metal rack.", + "num_frames": 390, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 389, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc246ab6031a14ad73c7829f394d8b717aa4027 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000035.json @@ -0,0 +1,70 @@ +{ + "episode_index": 35, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium-sized smooth green Starbucks mug, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..ce9e62252dd9fed0c5b7f68e4de6909a2ca07ab9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000036.json @@ -0,0 +1,70 @@ +{ + "episode_index": 36, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the black mug with rounded sturdy handle from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b24cf50f5e1212c7232b5b53ed018c783254b1 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000037.json @@ -0,0 +1,70 @@ +{ + "episode_index": 37, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth ceramic beige mug, twist it, set it back, and secure it onto the smooth dark gray rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..5d29f569b3788b1f382e0113e81528d18952c78d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000038.json @@ -0,0 +1,70 @@ +{ + "episode_index": 38, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the white ceramic mug with handle, turn it, put it in the center, and transfer it to the medium rack with protruding rods.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf69f8adc35ef1d023177eb1fe153e7cc0842c8 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000039.json @@ -0,0 +1,70 @@ +{ + "episode_index": 39, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug with glossy finish, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4772b4a4ce03913fe84478fe0c02af3f98c28b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000040.json @@ -0,0 +1,70 @@ +{ + "episode_index": 40, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical beige ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json new file mode 100644 index 0000000000000000000000000000000000000000..74ab96c2e31b5ade156e472ca1d29e6af83c356c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000041.json @@ -0,0 +1,70 @@ +{ + "episode_index": 41, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the basic mug in solid white, rotate it, set it on the table's center, then hang it onto the dark gray rack.", + "num_frames": 370, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 369, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2a694e0781e65c76d3fae779638de7eecc9d6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000042.json @@ -0,0 +1,70 @@ +{ + "episode_index": 42, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the colorful cartoon mug, rotate it, place it in the center, then hang it on the smooth dark gray rack.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fff709f4fbc8f283dbca43a3b69d667679c916 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000043.json @@ -0,0 +1,70 @@ +{ + "episode_index": 43, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with rounded handle from the table using one hand, rotate, and hang it on the metal rack.", + "num_frames": 352, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 144, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 145, + "end_frame": 351, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 129, + "arm": "left", + "kind": "open", + "start_frame": 122, + "end_frame": 136 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..206138ff08aa64603294920a608b1311f87fe35b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000044.json @@ -0,0 +1,70 @@ +{ + "episode_index": 44, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the colorful cartoon mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..21201c509ee168a338b192b21531ef494567d008 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000045.json @@ -0,0 +1,70 @@ +{ + "episode_index": 45, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, pick the hand-sized black mug, rotate it, place it, then hang it onto the smooth rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 52, + "arm": "left", + "kind": "close", + "start_frame": 45, + "end_frame": 59 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json new file mode 100644 index 0000000000000000000000000000000000000000..3ed6fee84264ca483c6114da009c3f9ab3de7c94 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000046.json @@ -0,0 +1,70 @@ +{ + "episode_index": 46, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the light brown cylindrical mug from the table, rotate it, place it, and then hang it onto the medium rack with protruding rods.", + "num_frames": 367, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 154, + "end_frame": 366, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 138, + "arm": "left", + "kind": "open", + "start_frame": 131, + "end_frame": 145 + }, + { + "frame": 230, + "arm": "right", + "kind": "close", + "start_frame": 223, + "end_frame": 237 + }, + { + "frame": 339, + "arm": "right", + "kind": "open", + "start_frame": 332, + "end_frame": 346 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json new file mode 100644 index 0000000000000000000000000000000000000000..7405e5d70c893b4083511cf49540222eaeab11b9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000047.json @@ -0,0 +1,70 @@ +{ + "episode_index": 47, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the brown mug for drinking, rotate it, set it down, and hang it onto the angled rack with long and short rods.", + "num_frames": 357, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 146, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 147, + "end_frame": 356, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 131, + "arm": "left", + "kind": "open", + "start_frame": 124, + "end_frame": 138 + }, + { + "frame": 223, + "arm": "right", + "kind": "close", + "start_frame": 216, + "end_frame": 230 + }, + { + "frame": 327, + "arm": "right", + "kind": "open", + "start_frame": 320, + "end_frame": 334 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json new file mode 100644 index 0000000000000000000000000000000000000000..20ea84cc4c061b8a9fb2cb0c42bbd89acd6e869d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000048.json @@ -0,0 +1,70 @@ +{ + "episode_index": 48, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium-sized smooth green Starbucks mug up, twist it, place it back, then hang it onto the smooth rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc89d259bba3540287ad878a18ba575f4dc7dfc --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000049.json @@ -0,0 +1,70 @@ +{ + "episode_index": 49, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium mug with blue design, rotate it, place it on the table, and hook it onto the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json new file mode 100644 index 0000000000000000000000000000000000000000..1caba0c704edb0cc1cf9e74c080a8b921f6f0e65 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000050.json @@ -0,0 +1,70 @@ +{ + "episode_index": 50, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the ceramic mug from the table using one hand, rotate, and hang it on the dark gray angled rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json new file mode 100644 index 0000000000000000000000000000000000000000..e593483c3709b88a88369f1248bed3cd6c6ecdd7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000051.json @@ -0,0 +1,70 @@ +{ + "episode_index": 51, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the cylindrical mug with curved handle, rotate it, set it down, then hang on the metallic angular rack with rod pair.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2ed4eabbda6fdffb7c27259a7c4ee44d00e0a2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000052.json @@ -0,0 +1,70 @@ +{ + "episode_index": 52, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using the left arm, pick the medium-sized mug, turn it, place it down, and hang it on the metallic angular rack with rod pair.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json new file mode 100644 index 0000000000000000000000000000000000000000..043f9d2d385b12fe6a74fbef79c4e34b7250fc14 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000053.json @@ -0,0 +1,70 @@ +{ + "episode_index": 53, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the palm-sized mug glossy black body, rotate it, set it down, then hang the palm-sized mug glossy black body onto the rack with two rods sticking out.", + "num_frames": 374, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 153, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 154, + "end_frame": 373, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 62, + "arm": "left", + "kind": "close", + "start_frame": 55, + "end_frame": 69 + }, + { + "frame": 137, + "arm": "left", + "kind": "open", + "start_frame": 130, + "end_frame": 144 + }, + { + "frame": 236, + "arm": "right", + "kind": "close", + "start_frame": 229, + "end_frame": 243 + }, + { + "frame": 344, + "arm": "right", + "kind": "open", + "start_frame": 337, + "end_frame": 351 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000054.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000054.json new file mode 100644 index 0000000000000000000000000000000000000000..8d5d67bebc91ae823961d788415b2daaf9a4a651 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000054.json @@ -0,0 +1,70 @@ +{ + "episode_index": 54, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the medium beige mug, turn it, place it back, and move it onto the dark gray rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json new file mode 100644 index 0000000000000000000000000000000000000000..19bb77b90d79c82cd5e0620070d4bb3a29a878c7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000055.json @@ -0,0 +1,70 @@ +{ + "episode_index": 55, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the hand-sized ceramic mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.", + "num_frames": 372, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 371, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json new file mode 100644 index 0000000000000000000000000000000000000000..9af9d395e99fc1d6dff53260c5988d2de255b65e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000056.json @@ -0,0 +1,70 @@ +{ + "episode_index": 56, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the mug with prints, turn it, set it centrally, and use the other to hang it onto the metal rack.", + "num_frames": 342, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 341, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json new file mode 100644 index 0000000000000000000000000000000000000000..4f374f48fc9168887a10e4532d8ed451de58cf29 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000057.json @@ -0,0 +1,70 @@ +{ + "episode_index": 57, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth white mug from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 314, + "arm": "right", + "kind": "open", + "start_frame": 307, + "end_frame": 321 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8aeddeb421ea8a392afaa9757df85357be5714 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000058.json @@ -0,0 +1,70 @@ +{ + "episode_index": 58, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug for hot drinks, rotate it, place it on the table, and hook it onto the metallic rack with smooth finish.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json new file mode 100644 index 0000000000000000000000000000000000000000..6c5f0a2b36d4afb62b92fb3708a9239f43ebdabf --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000059.json @@ -0,0 +1,70 @@ +{ + "episode_index": 59, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-held ceramic mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.", + "num_frames": 348, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 347, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 319, + "arm": "right", + "kind": "open", + "start_frame": 312, + "end_frame": 326 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1af33c263069cfeb84569cc08d80e660725b8d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000060.json @@ -0,0 +1,70 @@ +{ + "episode_index": 60, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the hand-sized ceramic cylindrical mug from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.", + "num_frames": 338, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 337, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfe47dca4d344b67665088f190e422126767ae7 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000061.json @@ -0,0 +1,70 @@ +{ + "episode_index": 61, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the Starbucks branded coffee mug, turn it, put it in the center, and transfer it to the rack with angular body.", + "num_frames": 327, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 326, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 298, + "arm": "right", + "kind": "open", + "start_frame": 291, + "end_frame": 305 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json new file mode 100644 index 0000000000000000000000000000000000000000..ab776b7f0356c54f7f9b4970979d34ef498da9f6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000062.json @@ -0,0 +1,70 @@ +{ + "episode_index": 62, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the glossy beige ceramic drinking mug from the table, rotate it, place it, and then hang it onto the rack with two rods sticking out.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json new file mode 100644 index 0000000000000000000000000000000000000000..20de85a00497d9e77f630dabdf721ae6b7f83cd2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000063.json @@ -0,0 +1,70 @@ +{ + "episode_index": 63, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the medium black mug with handle, flip it, set it down, and then attach it to the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json new file mode 100644 index 0000000000000000000000000000000000000000..58055af3abe90ebccd0590a56ff8fc84e224f42a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000064.json @@ -0,0 +1,70 @@ +{ + "episode_index": 64, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, place it in the center, then hang it on the dark gray angled rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json new file mode 100644 index 0000000000000000000000000000000000000000..bed80e777c379343db37ce65721e09b846c3093a --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000065.json @@ -0,0 +1,70 @@ +{ + "episode_index": 65, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the hand-sized mug with blue artwork, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000066.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..324dc8b229308b07ed5d54e08e54a69b4ca3303d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000066.json @@ -0,0 +1,70 @@ +{ + "episode_index": 66, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium black mug with handle, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f09cbde75d45e160b506e61c919122b4415252 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000067.json @@ -0,0 +1,70 @@ +{ + "episode_index": 67, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the cylindrical black mug, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json new file mode 100644 index 0000000000000000000000000000000000000000..1c912e6deac37d144bec427444d94e2807087bb9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000068.json @@ -0,0 +1,70 @@ +{ + "episode_index": 68, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium mug with handle from the table, rotate it, place it, and then hang it onto the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json new file mode 100644 index 0000000000000000000000000000000000000000..9a924cc9b9f813cc8e6c38f24bdd946dbc0b1690 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000069.json @@ -0,0 +1,70 @@ +{ + "episode_index": 69, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug for liquids, rotate it, place it on the table, and hook it onto the metallic rack with smooth finish.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..16879045ed40cae818f1291461d61694a3db5e9f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000070.json @@ -0,0 +1,70 @@ +{ + "episode_index": 70, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the black mug with handle, rotate it, and attach it to the rack with two rods sticking out after setting it down.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json new file mode 100644 index 0000000000000000000000000000000000000000..7292f2fd2b6cf55269ed14caf75456103bab2ee4 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000071.json @@ -0,0 +1,70 @@ +{ + "episode_index": 71, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the green drinking mug, rotate it, place it down, and hang it onto the smooth rack with the right arm.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json new file mode 100644 index 0000000000000000000000000000000000000000..5408c0adba3afd2b9cb0bafe4f5fa9c3cadb0123 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000072.json @@ -0,0 +1,70 @@ +{ + "episode_index": 72, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the mug with blue print from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..6fdbe5317165ed741d25379be1759fe1cca3f992 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000073.json @@ -0,0 +1,70 @@ +{ + "episode_index": 73, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the medium mug with handle from the table, rotate it, place it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3443700b27f8bdc1b46985d490d3c1a1bc055d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000074.json @@ -0,0 +1,70 @@ +{ + "episode_index": 74, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side, rotate it, set it in the middle, then hang it on the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 310, + "arm": "right", + "kind": "open", + "start_frame": 303, + "end_frame": 317 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json new file mode 100644 index 0000000000000000000000000000000000000000..a6e2c6e5756cd53b16b6d68844eede5db79fd260 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000075.json @@ -0,0 +1,70 @@ +{ + "episode_index": 75, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light brown mug with one arm, rotate it, and hang it onto the dark gray rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 295, + "arm": "right", + "kind": "open", + "start_frame": 288, + "end_frame": 302 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json new file mode 100644 index 0000000000000000000000000000000000000000..da28ab30a7b688d602161bc26c8a62f767eff1e9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000076.json @@ -0,0 +1,70 @@ +{ + "episode_index": 76, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug polished ceramic build, rotate it, place it down, and hang it onto the metal rack with the right arm.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 148, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 149, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 61, + "arm": "left", + "kind": "close", + "start_frame": 54, + "end_frame": 68 + }, + { + "frame": 133, + "arm": "left", + "kind": "open", + "start_frame": 126, + "end_frame": 140 + }, + { + "frame": 220, + "arm": "right", + "kind": "close", + "start_frame": 213, + "end_frame": 227 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..d48f41e96ae60198736346a6304dc2f75620ede5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000077.json @@ -0,0 +1,70 @@ +{ + "episode_index": 77, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to pick the mug with glossy texture, turn it, place it, then hang on the rack with angular body.", + "num_frames": 349, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 348, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 60, + "arm": "left", + "kind": "close", + "start_frame": 53, + "end_frame": 67 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 215, + "arm": "right", + "kind": "close", + "start_frame": 208, + "end_frame": 222 + }, + { + "frame": 320, + "arm": "right", + "kind": "open", + "start_frame": 313, + "end_frame": 327 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json new file mode 100644 index 0000000000000000000000000000000000000000..2d936180f52f0894a438b31e2d41c80a52e38aab --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000078.json @@ -0,0 +1,70 @@ +{ + "episode_index": 78, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with curved black handle from the table, turn it, set it down, and attach it to the smooth dark gray rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json new file mode 100644 index 0000000000000000000000000000000000000000..d6afe20d41cb509f0718022f64986668ce192c87 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000079.json @@ -0,0 +1,70 @@ +{ + "episode_index": 79, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the Starbucks branded coffee mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 395, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 394, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json new file mode 100644 index 0000000000000000000000000000000000000000..15a0750b8c43c1761ececb02ae98f3ff6a5d505d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000080.json @@ -0,0 +1,70 @@ +{ + "episode_index": 80, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the ceramic mug smooth beige surface, rotate it, place it in the middle, and hang it onto the rack with angular body.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json new file mode 100644 index 0000000000000000000000000000000000000000..a95fda60915a8f0785048a06e97f185ff17ec437 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000081.json @@ -0,0 +1,70 @@ +{ + "episode_index": 81, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the medium beige mug from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json new file mode 100644 index 0000000000000000000000000000000000000000..9280504301a9bed7da111cd321d69632b0333d06 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000082.json @@ -0,0 +1,70 @@ +{ + "episode_index": 82, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the cylindrical coffee mug with handle with one arm, rotate it, and hang it onto the metallic rack with smooth finish.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 302, + "arm": "right", + "kind": "open", + "start_frame": 295, + "end_frame": 309 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json new file mode 100644 index 0000000000000000000000000000000000000000..72adfd7ef4629e1743c4392935e002463d0e975d --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000083.json @@ -0,0 +1,70 @@ +{ + "episode_index": 83, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the mug for drinking liquids, rotate it, and attach it to the smooth rack after setting it down.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 126, + "arm": "left", + "kind": "open", + "start_frame": 119, + "end_frame": 133 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json new file mode 100644 index 0000000000000000000000000000000000000000..eb24d9723259fb6811d3c353e60d9f969eef5a6c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000084.json @@ -0,0 +1,70 @@ +{ + "episode_index": 84, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the mug with loop handle, spin it, place it down, then use the right arm to hang it on the dark gray rack.", + "num_frames": 378, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 377, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 219, + "arm": "right", + "kind": "close", + "start_frame": 212, + "end_frame": 226 + }, + { + "frame": 318, + "arm": "right", + "kind": "open", + "start_frame": 311, + "end_frame": 325 + } + ], + "scene_info": { + "{A}": "039_mug/base5", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ac8990bc8d187fe7343da2e80d36d9f13ca3e0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000085.json @@ -0,0 +1,70 @@ +{ + "episode_index": 85, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the palm-sized mug glossy black body from the table using one hand, rotate, and hang it on the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json new file mode 100644 index 0000000000000000000000000000000000000000..4da333aefa0d626a00d48dc7336e4b72216b8e02 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000086.json @@ -0,0 +1,70 @@ +{ + "episode_index": 86, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the palm-sized mug glossy black body, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base0", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..55709bb6fe877b6f310a6fc4a85d2e62ac5e720f --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000087.json @@ -0,0 +1,70 @@ +{ + "episode_index": 87, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the mug for holding liquid, turn it, place it back, and move it onto the dark gray angled rack with the right arm.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 141, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 142, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 218, + "arm": "right", + "kind": "close", + "start_frame": 211, + "end_frame": 225 + }, + { + "frame": 326, + "arm": "right", + "kind": "open", + "start_frame": 319, + "end_frame": 333 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..e7059c45b2cb10ab635effc62a94e1ab84bb2a17 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000088.json @@ -0,0 +1,70 @@ +{ + "episode_index": 88, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the white mug, spin it, place it down, then use the right arm to hang it on the dark gray rack.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json new file mode 100644 index 0000000000000000000000000000000000000000..7b5d5b9f1aa7480c21a0dd9f779e5f6540ab837e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000089.json @@ -0,0 +1,70 @@ +{ + "episode_index": 89, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the round mug with one handle using your left arm, turn it, set it on the table, and hang it on the metal rack with the right arm.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json new file mode 100644 index 0000000000000000000000000000000000000000..9365a9d36cd28e6334926e49fc9fcdd3ecb6d521 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000090.json @@ -0,0 +1,70 @@ +{ + "episode_index": 90, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the dark green ceramic cup, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 312, + "arm": "right", + "kind": "open", + "start_frame": 305, + "end_frame": 319 + } + ], + "scene_info": { + "{A}": "039_mug/base8", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc321fab4df1d7d36a0db5366bff7371d881fd9 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000091.json @@ -0,0 +1,70 @@ +{ + "episode_index": 91, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to pick the medium mug with smooth texture, rotate it, set it down, and hang it onto the rack with two rods sticking out.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json new file mode 100644 index 0000000000000000000000000000000000000000..39608f8478b2a554ffa260b4c5e690090fdb82df --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000092.json @@ -0,0 +1,70 @@ +{ + "episode_index": 92, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the medium mug fits in hand from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3150ac62c67669cf3169ee6efd288e80156c23 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000093.json @@ -0,0 +1,70 @@ +{ + "episode_index": 93, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick the black coffee mug up, twist it, place it back, then hang it onto the metallic rack with smooth finish.", + "num_frames": 344, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 343, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 315, + "arm": "right", + "kind": "open", + "start_frame": 308, + "end_frame": 322 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json new file mode 100644 index 0000000000000000000000000000000000000000..506c0a63d134715f0c86f7e462fa7203557d5ec5 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000094.json @@ -0,0 +1,70 @@ +{ + "episode_index": 94, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the beige ceramic mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 142, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 143, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 59, + "arm": "left", + "kind": "close", + "start_frame": 52, + "end_frame": 66 + }, + { + "frame": 127, + "arm": "left", + "kind": "open", + "start_frame": 120, + "end_frame": 134 + }, + { + "frame": 214, + "arm": "right", + "kind": "close", + "start_frame": 207, + "end_frame": 221 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2c6c0046c26556b2bca383cde6e6fdb0a0c34c --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000095.json @@ -0,0 +1,70 @@ +{ + "episode_index": 95, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to lift the light brown mug with handle, rotate it, put it down, then hook onto the smooth rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 306, + "arm": "right", + "kind": "open", + "start_frame": 299, + "end_frame": 313 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json new file mode 100644 index 0000000000000000000000000000000000000000..c9bec4ea75b55f5b9ca1759b0073590710d1e98b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000096.json @@ -0,0 +1,70 @@ +{ + "episode_index": 96, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the dark gray angled rack.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 132, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 133, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 117, + "arm": "left", + "kind": "open", + "start_frame": 110, + "end_frame": 124 + }, + { + "frame": 201, + "arm": "right", + "kind": "close", + "start_frame": 194, + "end_frame": 208 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..87a197629eb827863faf5091b71dac7eaf5f5263 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000097.json @@ -0,0 +1,70 @@ +{ + "episode_index": 97, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the light beige ceramic drinking mug from the table, rotate it, place it in the center, then hang it onto the metal rack.", + "num_frames": 350, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 143, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 144, + "end_frame": 349, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 128, + "arm": "left", + "kind": "open", + "start_frame": 121, + "end_frame": 135 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 323, + "arm": "right", + "kind": "open", + "start_frame": 316, + "end_frame": 330 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json new file mode 100644 index 0000000000000000000000000000000000000000..21383ba799cfca72021611c7e80d39597a60acb3 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000098.json @@ -0,0 +1,70 @@ +{ + "episode_index": 98, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the white mug, rotate it, set it on the table's center, then hang it onto the dark gray angled rack.", + "num_frames": 339, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 338, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 311, + "arm": "right", + "kind": "open", + "start_frame": 304, + "end_frame": 318 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json new file mode 100644 index 0000000000000000000000000000000000000000..5dc680cab48a3bed174ce915c8aa4271bfdd0491 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000099.json @@ -0,0 +1,70 @@ +{ + "episode_index": 99, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the beige mug handle on side, rotate it, place it down, and hang it onto the rack with angular body with the right arm.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 304, + "arm": "right", + "kind": "open", + "start_frame": 297, + "end_frame": 311 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json new file mode 100644 index 0000000000000000000000000000000000000000..00c6c684e41d0614b800959d9f76c71bfb48ce11 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000100.json @@ -0,0 +1,70 @@ +{ + "episode_index": 100, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Using your left arm, lift the ceramic mug smooth beige surface, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json new file mode 100644 index 0000000000000000000000000000000000000000..5bb2f7d66558b343e1d9c70141eb4fe1383c7014 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000101.json @@ -0,0 +1,70 @@ +{ + "episode_index": 101, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the right arm to lift the medium mug with smooth texture, rotate it, and attach it to the smooth dark gray rack after setting it down.", + "num_frames": 329, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 328, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 300, + "arm": "right", + "kind": "open", + "start_frame": 293, + "end_frame": 307 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json new file mode 100644 index 0000000000000000000000000000000000000000..831ba51de2711c4f2ccb9937021a85be2c9e9023 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000102.json @@ -0,0 +1,70 @@ +{ + "episode_index": 102, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the drinking mug with smooth body, flip it, set it down, and then attach it to the dark gray rack.", + "num_frames": 353, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 352, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 216, + "arm": "right", + "kind": "close", + "start_frame": 209, + "end_frame": 223 + }, + { + "frame": 324, + "arm": "right", + "kind": "open", + "start_frame": 317, + "end_frame": 331 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json new file mode 100644 index 0000000000000000000000000000000000000000..d7ec33af26d85422807fdc8f88e4e5acc173d185 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000103.json @@ -0,0 +1,70 @@ +{ + "episode_index": 103, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the smooth ceramic mug, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.", + "num_frames": 335, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 334, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json new file mode 100644 index 0000000000000000000000000000000000000000..af75e77618858ccde84fc2d320fe3e8dfafd6b6b --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000104.json @@ -0,0 +1,70 @@ +{ + "episode_index": 104, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the glossy mug for beverages, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 333, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 332, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json new file mode 100644 index 0000000000000000000000000000000000000000..2a93249acc64b37bce272880ad0886a4dd6aedc0 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000105.json @@ -0,0 +1,70 @@ +{ + "episode_index": 105, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the black mug, rotate it, place it in the middle, and hang it on the dark gray angled rack.", + "num_frames": 337, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 135, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 136, + "end_frame": 336, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 120, + "arm": "left", + "kind": "open", + "start_frame": 113, + "end_frame": 127 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 309, + "arm": "right", + "kind": "open", + "start_frame": 302, + "end_frame": 316 + } + ], + "scene_info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json new file mode 100644 index 0000000000000000000000000000000000000000..e60e5201700c9d3efef3fb7199451267423a2343 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000106.json @@ -0,0 +1,70 @@ +{ + "episode_index": 106, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use the left arm to grab the mug with glossy beige finish, rotate it, place it down, and hang it onto the dark gray rack with the right arm.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json new file mode 100644 index 0000000000000000000000000000000000000000..22d21a15c7f57bf3c865cb36b48df5ee948953be --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000107.json @@ -0,0 +1,70 @@ +{ + "episode_index": 107, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use your left arm to grab the white drinking mug with smooth surface, rotate it, set it down, then hang on the medium rack with protruding rods.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 140, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 141, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 125, + "arm": "left", + "kind": "open", + "start_frame": 118, + "end_frame": 132 + }, + { + "frame": 213, + "arm": "right", + "kind": "close", + "start_frame": 206, + "end_frame": 220 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json new file mode 100644 index 0000000000000000000000000000000000000000..84b591518d60e0d0711cb8ed3f5a1f6db1f8b2e2 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000108.json @@ -0,0 +1,70 @@ +{ + "episode_index": 108, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Pick up the mug with cartoon design, turn it, place it centrally, then hang the mug with cartoon design onto the rack with two rods sticking out.", + "num_frames": 326, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 325, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 206, + "arm": "right", + "kind": "close", + "start_frame": 199, + "end_frame": 213 + }, + { + "frame": 297, + "arm": "right", + "kind": "open", + "start_frame": 290, + "end_frame": 304 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..c754b35c61f70dc36fe8064ce97756505009b722 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000109.json @@ -0,0 +1,70 @@ +{ + "episode_index": 109, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the mug with logo design on side with one arm, rotate it, and hang it onto the smooth rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 205, + "arm": "right", + "kind": "close", + "start_frame": 198, + "end_frame": 212 + }, + { + "frame": 307, + "arm": "right", + "kind": "open", + "start_frame": 300, + "end_frame": 314 + } + ], + "scene_info": { + "{A}": "039_mug/base7", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd317dd64671ffe7c20cc28d926d8dd4773d726 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000110.json @@ -0,0 +1,70 @@ +{ + "episode_index": 110, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the brown mug with one arm, rotate it, and hang it onto the metal rack.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 211, + "arm": "right", + "kind": "close", + "start_frame": 204, + "end_frame": 218 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json new file mode 100644 index 0000000000000000000000000000000000000000..c7227a11071ba14ccbde00091f74e49908119bc6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000111.json @@ -0,0 +1,70 @@ +{ + "episode_index": 111, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the colorful cartoon mug, rotate it, place it in the middle, and hang it on the smooth dark gray rack.", + "num_frames": 341, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 340, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 209, + "arm": "right", + "kind": "close", + "start_frame": 202, + "end_frame": 216 + }, + { + "frame": 313, + "arm": "right", + "kind": "open", + "start_frame": 306, + "end_frame": 320 + } + ], + "scene_info": { + "{A}": "039_mug/base3", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json new file mode 100644 index 0000000000000000000000000000000000000000..fba5b495d41a5d38d45c7ad19e0d42d6c8a8f090 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000112.json @@ -0,0 +1,70 @@ +{ + "episode_index": 112, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the ceramic mug, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 325, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 134, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 135, + "end_frame": 324, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 119, + "arm": "left", + "kind": "open", + "start_frame": 112, + "end_frame": 126 + }, + { + "frame": 204, + "arm": "right", + "kind": "close", + "start_frame": 197, + "end_frame": 211 + }, + { + "frame": 296, + "arm": "right", + "kind": "open", + "start_frame": 289, + "end_frame": 303 + } + ], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b0ff7140219679a849a3c95de9941867f6a4a6 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000113.json @@ -0,0 +1,70 @@ +{ + "episode_index": 113, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige ceramic mug from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 329, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 57, + "arm": "left", + "kind": "close", + "start_frame": 50, + "end_frame": 64 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 301, + "arm": "right", + "kind": "open", + "start_frame": 294, + "end_frame": 308 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json new file mode 100644 index 0000000000000000000000000000000000000000..320eb24cbe1b6c57b1b913beb21f9f7ac3050aba --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000114.json @@ -0,0 +1,70 @@ +{ + "episode_index": 114, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Use one arm to grab the brown mug, turn it, set it centrally, and use the other to hang it onto the rack with angular body.", + "num_frames": 334, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 138, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 139, + "end_frame": 333, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 56, + "arm": "left", + "kind": "close", + "start_frame": 49, + "end_frame": 63 + }, + { + "frame": 123, + "arm": "left", + "kind": "open", + "start_frame": 116, + "end_frame": 130 + }, + { + "frame": 210, + "arm": "right", + "kind": "close", + "start_frame": 203, + "end_frame": 217 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base2", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea3d2c05972a072aefeb90887a8fbdcf5c16f87 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000115.json @@ -0,0 +1,70 @@ +{ + "episode_index": 115, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Lift the smooth and plain drinking mug, turn it around, set it in the middle, and place it on the smooth rack.", + "num_frames": 336, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 139, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 140, + "end_frame": 335, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 55, + "arm": "left", + "kind": "close", + "start_frame": 48, + "end_frame": 62 + }, + { + "frame": 124, + "arm": "left", + "kind": "open", + "start_frame": 117, + "end_frame": 131 + }, + { + "frame": 212, + "arm": "right", + "kind": "close", + "start_frame": 205, + "end_frame": 219 + }, + { + "frame": 308, + "arm": "right", + "kind": "open", + "start_frame": 301, + "end_frame": 315 + } + ], + "scene_info": { + "{A}": "039_mug/base9", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json new file mode 100644 index 0000000000000000000000000000000000000000..e0929c4b07ace71e77d9cb8c63cf0f7be2cfa459 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000116.json @@ -0,0 +1,70 @@ +{ + "episode_index": 116, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "With the left arm, grab the cylindrical mug with curved handle, spin it, place it down, then use the right arm to hang it on the rack with two rods sticking out.", + "num_frames": 330, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": 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], + "scene_info": { + "{A}": "039_mug/base4", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..ceec4332833cabd5c4633051b589409fc020995e --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000117.json @@ -0,0 +1,70 @@ +{ + "episode_index": 117, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Take the beige mug polished ceramic build, rotate it, place it in the center, then hang it on the metal rack.", + "num_frames": 331, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 136, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 137, + "end_frame": 330, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 54, + "arm": "left", + "kind": "close", + "start_frame": 47, + "end_frame": 61 + }, + { + "frame": 121, + "arm": "left", + "kind": "open", + "start_frame": 114, + "end_frame": 128 + }, + { + "frame": 207, + "arm": "right", + "kind": "close", + "start_frame": 200, + "end_frame": 214 + }, + { + "frame": 303, + "arm": "right", + "kind": "open", + "start_frame": 296, + "end_frame": 310 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +} diff --git a/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json new file mode 100644 index 0000000000000000000000000000000000000000..452de385660d6c249780a96895b92b12c4562b16 --- /dev/null +++ b/data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000118.json @@ -0,0 +1,70 @@ +{ + "episode_index": 118, + "repo": "hanging_mug-aloha-agilex_randomized_500", + "task_slug": "hanging_mug", + "task_goal": "Grab the beige ceramic mug from the table, rotate it, place it, and hang it onto the smooth rack.", + "num_frames": 332, + "subtasks": [ + { + "subtask_index": 0, + "subtask_goal": "Place the mug at the center of the table.", + "subtask_type": "semantic", + "start_frame": 0, + "end_frame": 137, + "boundary_source": "coarse_1", + "truncation_rule": "semantic_plan" + }, + { + "subtask_index": 1, + "subtask_goal": "Place the mug on the rack.", + "subtask_type": "semantic", + "start_frame": 138, + "end_frame": 331, + "boundary_source": "coarse_3", + "truncation_rule": "semantic_plan" + } + ], + "metadata": { + "annotation_version": "robotwin_semantic_reviewed_v1", + "annotation_granularity": "semantic", + "gripper_threshold": 0.5, + "alignment_policy": "manually reviewed task-level semantic spans", + "detected_gripper_events": [ + { + "frame": 53, + "arm": "left", + "kind": "close", + "start_frame": 46, + "end_frame": 60 + }, + { + "frame": 122, + "arm": "left", + "kind": "open", + "start_frame": 115, + "end_frame": 129 + }, + { + "frame": 208, + "arm": "right", + "kind": "close", + "start_frame": 201, + "end_frame": 215 + }, + { + "frame": 305, + "arm": "right", + "kind": "open", + "start_frame": 298, + "end_frame": 312 + } + ], + "scene_info": { + "{A}": "039_mug/base6", + "{B}": "040_rack/base0" + }, + "source_annotation_version": "robotwin_vlm_coarse_v1", + "source_annotation_dir": "anno_coarse", + "semantic_plan_version": "2026-07-15" + } +}