Upload RoboTwin ALOHA clean LeRobot data (part 40)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000371.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000372.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000373.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000374.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000375.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000376.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000377.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000378.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000379.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000380.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000381.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000382.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000383.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000384.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000385.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000386.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000387.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000388.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000389.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000390.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000391.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000392.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000393.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000394.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000395.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000396.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000397.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000398.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000399.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000400.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000401.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000402.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000403.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000404.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000405.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000406.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000407.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000408.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000409.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000410.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000411.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000412.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000413.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000414.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000415.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000416.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000417.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000418.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000419.json +84 -0
- data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000420.json +84 -0
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000371.json
ADDED
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{
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"episode_index": 371,
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"repo": "handover_block-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "handover_block",
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"task_goal": "Take the red block using the left arm and hand it over.",
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"num_frames": 288,
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"subtasks": [
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{
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"subtask_index": 0,
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| 10 |
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"subtask_goal": "Grasp the red block with the left arm.",
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"subtask_type": "single_grasp",
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"start_frame": 0,
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"end_frame": 76,
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"boundary_source": "after_gripper_left_close",
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"truncation_rule": "gripper_close",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 1,
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"subtask_goal": "Move the red block to the handover position with the left arm.",
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"subtask_type": "single_move",
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"start_frame": 77,
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| 23 |
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"end_frame": 120,
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"boundary_source": "single_arm_switch",
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"truncation_rule": "single_arm_switch"
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},
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{
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"subtask_index": 2,
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"subtask_goal": "Grasp the red block with the right arm.",
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"subtask_type": "single_grasp",
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"start_frame": 121,
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"end_frame": 188,
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| 33 |
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"boundary_source": "after_gripper_right_close",
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| 34 |
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"truncation_rule": "gripper_close",
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"gap_fill_policy": "extended_to_next_subtask_start"
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},
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{
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"subtask_index": 3,
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"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
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| 40 |
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"subtask_type": "handover",
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| 41 |
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"start_frame": 189,
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| 42 |
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"end_frame": 282,
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| 43 |
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"boundary_source": "after_gripper_right_open",
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"truncation_rule": "gripper_open"
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}
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],
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"metadata": {
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"annotation_version": "robotwin_vlm_coarse_v1",
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"annotation_granularity": "coarse",
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| 50 |
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"gripper_threshold": 0.5,
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
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"detected_gripper_events": [
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{
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| 54 |
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"frame": 61,
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| 55 |
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"arm": "left",
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| 56 |
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"kind": "close",
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| 57 |
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"start_frame": 54,
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"end_frame": 68
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},
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{
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"frame": 174,
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"arm": "right",
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"kind": "close",
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"start_frame": 167,
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| 65 |
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"end_frame": 181
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| 66 |
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},
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{
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"frame": 196,
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| 69 |
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"arm": "left",
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| 70 |
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"kind": "open",
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| 71 |
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"start_frame": 189,
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| 72 |
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"end_frame": 203
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| 73 |
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},
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| 74 |
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{
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| 75 |
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"frame": 275,
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| 76 |
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"arm": "right",
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| 77 |
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"kind": "open",
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| 78 |
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"start_frame": 268,
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| 79 |
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"end_frame": 282
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| 80 |
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}
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| 81 |
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],
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| 82 |
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"scene_info": {}
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}
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}
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data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000372.json
ADDED
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@@ -0,0 +1,84 @@
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| 1 |
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{
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| 2 |
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"episode_index": 372,
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| 3 |
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"repo": "handover_block-aloha-agilex_randomized_500",
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| 4 |
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"task_slug": "handover_block",
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| 5 |
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"task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
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| 6 |
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"num_frames": 280,
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| 7 |
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"subtasks": [
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| 8 |
+
{
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| 9 |
+
"subtask_index": 0,
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| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
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| 11 |
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"subtask_type": "single_grasp",
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| 12 |
+
"start_frame": 0,
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| 13 |
+
"end_frame": 73,
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| 14 |
+
"boundary_source": "after_gripper_left_close",
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| 15 |
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"truncation_rule": "gripper_close",
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| 16 |
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"gap_fill_policy": "extended_to_next_subtask_start"
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| 17 |
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},
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| 18 |
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{
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| 19 |
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"subtask_index": 1,
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| 20 |
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"subtask_goal": "Move the red block to the handover position with the left arm.",
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| 21 |
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"subtask_type": "single_move",
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| 22 |
+
"start_frame": 74,
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| 23 |
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"end_frame": 113,
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| 24 |
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"boundary_source": "single_arm_switch",
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| 25 |
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"truncation_rule": "single_arm_switch"
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| 26 |
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},
|
| 27 |
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{
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| 28 |
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"subtask_index": 2,
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| 29 |
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"subtask_goal": "Grasp the red block with the right arm.",
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| 30 |
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"subtask_type": "single_grasp",
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| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
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| 34 |
+
"truncation_rule": "gripper_close",
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| 35 |
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"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
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{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
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],
|
| 47 |
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"metadata": {
|
| 48 |
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"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
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"annotation_granularity": "coarse",
|
| 50 |
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"gripper_threshold": 0.5,
|
| 51 |
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"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
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{
|
| 54 |
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"frame": 58,
|
| 55 |
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"arm": "left",
|
| 56 |
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"kind": "close",
|
| 57 |
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"start_frame": 51,
|
| 58 |
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"end_frame": 65
|
| 59 |
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},
|
| 60 |
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{
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| 61 |
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"frame": 167,
|
| 62 |
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"arm": "right",
|
| 63 |
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"kind": "close",
|
| 64 |
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"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
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"arm": "left",
|
| 70 |
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"kind": "open",
|
| 71 |
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"start_frame": 182,
|
| 72 |
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"end_frame": 196
|
| 73 |
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},
|
| 74 |
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{
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| 75 |
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"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
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"kind": "open",
|
| 78 |
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"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
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}
|
| 84 |
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}
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data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000373.json
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| 1 |
+
{
|
| 2 |
+
"episode_index": 373,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
|
| 6 |
+
"num_frames": 288,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 79,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 80,
|
| 23 |
+
"end_frame": 122,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 123,
|
| 32 |
+
"end_frame": 190,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 191,
|
| 42 |
+
"end_frame": 282,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 64,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 57,
|
| 58 |
+
"end_frame": 71
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 176,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 169,
|
| 65 |
+
"end_frame": 183
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 198,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 191,
|
| 72 |
+
"end_frame": 205
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 275,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 268,
|
| 79 |
+
"end_frame": 282
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000374.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 374,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000375.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 375,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
|
| 6 |
+
"num_frames": 288,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 118,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 119,
|
| 32 |
+
"end_frame": 186,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 187,
|
| 42 |
+
"end_frame": 282,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 172,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 165,
|
| 65 |
+
"end_frame": 179
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 194,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 187,
|
| 72 |
+
"end_frame": 201
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 275,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 268,
|
| 79 |
+
"end_frame": 282
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000376.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 376,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Take the red block, pass it to the right arm, then place it.",
|
| 6 |
+
"num_frames": 285,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 116,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 117,
|
| 32 |
+
"end_frame": 184,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 185,
|
| 42 |
+
"end_frame": 279,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 170,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 163,
|
| 65 |
+
"end_frame": 177
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 192,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 185,
|
| 72 |
+
"end_frame": 199
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 272,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 265,
|
| 79 |
+
"end_frame": 279
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000377.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 377,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
|
| 6 |
+
"num_frames": 283,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 277,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 270,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 263,
|
| 79 |
+
"end_frame": 277
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000378.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 378,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 283,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 116,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 117,
|
| 32 |
+
"end_frame": 184,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 185,
|
| 42 |
+
"end_frame": 277,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 170,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 163,
|
| 65 |
+
"end_frame": 177
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 192,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 185,
|
| 72 |
+
"end_frame": 199
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 270,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 263,
|
| 79 |
+
"end_frame": 277
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000379.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 379,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift, switch arms, and place the red block.",
|
| 6 |
+
"num_frames": 285,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 117,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 118,
|
| 32 |
+
"end_frame": 185,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 186,
|
| 42 |
+
"end_frame": 279,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 171,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 164,
|
| 65 |
+
"end_frame": 178
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 193,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 186,
|
| 72 |
+
"end_frame": 200
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 272,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 265,
|
| 79 |
+
"end_frame": 279
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000380.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 380,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grip the red block with the left arm and transfer it.",
|
| 6 |
+
"num_frames": 285,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 76,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 77,
|
| 23 |
+
"end_frame": 116,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 117,
|
| 32 |
+
"end_frame": 184,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 185,
|
| 42 |
+
"end_frame": 279,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 61,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 54,
|
| 58 |
+
"end_frame": 68
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 170,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 163,
|
| 65 |
+
"end_frame": 177
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 192,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 185,
|
| 72 |
+
"end_frame": 199
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 272,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 265,
|
| 79 |
+
"end_frame": 279
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000381.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 381,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block, hand it to the right arm, then set it down.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000382.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 382,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Place the red block onto the blue pad using the right arm.",
|
| 6 |
+
"num_frames": 288,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 121,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 122,
|
| 32 |
+
"end_frame": 189,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 190,
|
| 42 |
+
"end_frame": 282,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 175,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 168,
|
| 65 |
+
"end_frame": 182
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 197,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 190,
|
| 72 |
+
"end_frame": 204
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 275,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 268,
|
| 79 |
+
"end_frame": 282
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000383.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 383,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block and transfer to the right.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 71,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 72,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 56,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 49,
|
| 58 |
+
"end_frame": 63
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 167,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 182,
|
| 72 |
+
"end_frame": 196
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000384.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 384,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the block with the left arm, pass it to the right arm.",
|
| 6 |
+
"num_frames": 285,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 77,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 78,
|
| 23 |
+
"end_frame": 118,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 119,
|
| 32 |
+
"end_frame": 186,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 187,
|
| 42 |
+
"end_frame": 279,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 62,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 55,
|
| 58 |
+
"end_frame": 69
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 172,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 165,
|
| 65 |
+
"end_frame": 179
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 194,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 187,
|
| 72 |
+
"end_frame": 201
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 272,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 265,
|
| 79 |
+
"end_frame": 279
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000385.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 385,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick the red block with the left arm and transfer to the right.",
|
| 6 |
+
"num_frames": 290,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 77,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 78,
|
| 23 |
+
"end_frame": 123,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 124,
|
| 32 |
+
"end_frame": 191,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 192,
|
| 42 |
+
"end_frame": 284,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 62,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 55,
|
| 58 |
+
"end_frame": 69
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 177,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 170,
|
| 65 |
+
"end_frame": 184
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 199,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 192,
|
| 72 |
+
"end_frame": 206
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 277,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 270,
|
| 79 |
+
"end_frame": 284
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000386.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 386,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use left arm to grab the block and hand it to the right.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 179,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 180,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 165,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 158,
|
| 65 |
+
"end_frame": 172
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 187,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 180,
|
| 72 |
+
"end_frame": 194
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000387.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 387,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Hand the red block to the right arm.",
|
| 6 |
+
"num_frames": 280,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000388.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 388,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
|
| 6 |
+
"num_frames": 299,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 80,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 81,
|
| 23 |
+
"end_frame": 129,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 130,
|
| 32 |
+
"end_frame": 196,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 197,
|
| 42 |
+
"end_frame": 293,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 65,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 58,
|
| 58 |
+
"end_frame": 72
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 182,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 175,
|
| 65 |
+
"end_frame": 189
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 204,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 197,
|
| 72 |
+
"end_frame": 211
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 286,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 279,
|
| 79 |
+
"end_frame": 293
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000389.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 389,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Hold the red block with the left arm and place it on the pad.",
|
| 6 |
+
"num_frames": 289,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 121,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 122,
|
| 32 |
+
"end_frame": 189,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 190,
|
| 42 |
+
"end_frame": 283,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 175,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 168,
|
| 65 |
+
"end_frame": 182
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 197,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 190,
|
| 72 |
+
"end_frame": 204
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 276,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 269,
|
| 79 |
+
"end_frame": 283
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000390.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 390,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
|
| 6 |
+
"num_frames": 292,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 76,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 77,
|
| 23 |
+
"end_frame": 125,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 126,
|
| 32 |
+
"end_frame": 193,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 194,
|
| 42 |
+
"end_frame": 286,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 61,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 54,
|
| 58 |
+
"end_frame": 68
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 179,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 172,
|
| 65 |
+
"end_frame": 186
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 201,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 194,
|
| 72 |
+
"end_frame": 208
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 279,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 272,
|
| 79 |
+
"end_frame": 286
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000391.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 391,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
|
| 6 |
+
"num_frames": 278,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 272,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 167,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 182,
|
| 72 |
+
"end_frame": 196
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 265,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 258,
|
| 79 |
+
"end_frame": 272
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000392.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 392,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Take the red block, pass it to the right arm, and drop it.",
|
| 6 |
+
"num_frames": 292,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 79,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 80,
|
| 23 |
+
"end_frame": 124,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 125,
|
| 32 |
+
"end_frame": 192,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 193,
|
| 42 |
+
"end_frame": 286,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 64,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 57,
|
| 58 |
+
"end_frame": 71
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 178,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 171,
|
| 65 |
+
"end_frame": 185
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 200,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 193,
|
| 72 |
+
"end_frame": 207
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 279,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 272,
|
| 79 |
+
"end_frame": 286
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000393.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 393,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
|
| 6 |
+
"num_frames": 310,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 85,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 86,
|
| 23 |
+
"end_frame": 134,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 135,
|
| 32 |
+
"end_frame": 202,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 203,
|
| 42 |
+
"end_frame": 304,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 68,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 61,
|
| 58 |
+
"end_frame": 75
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 188,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 181,
|
| 65 |
+
"end_frame": 195
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 210,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 203,
|
| 72 |
+
"end_frame": 217
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 297,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 290,
|
| 79 |
+
"end_frame": 304
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000394.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 394,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000395.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 395,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block and transfer to the right.",
|
| 6 |
+
"num_frames": 298,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 78,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 79,
|
| 23 |
+
"end_frame": 132,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 133,
|
| 32 |
+
"end_frame": 200,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 201,
|
| 42 |
+
"end_frame": 292,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 63,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 56,
|
| 58 |
+
"end_frame": 70
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 186,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 179,
|
| 65 |
+
"end_frame": 193
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 208,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 201,
|
| 72 |
+
"end_frame": 215
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 285,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 278,
|
| 79 |
+
"end_frame": 292
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000396.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 396,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block, hand it over, and place it properly.",
|
| 6 |
+
"num_frames": 277,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 110,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 111,
|
| 32 |
+
"end_frame": 178,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 179,
|
| 42 |
+
"end_frame": 271,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 164,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 157,
|
| 65 |
+
"end_frame": 171
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 186,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 179,
|
| 72 |
+
"end_frame": 193
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 264,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 257,
|
| 79 |
+
"end_frame": 271
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000397.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 397,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 167,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 182,
|
| 72 |
+
"end_frame": 196
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000398.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 398,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
|
| 6 |
+
"num_frames": 283,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 277,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 270,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 263,
|
| 79 |
+
"end_frame": 277
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000399.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 399,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift, switch arms, and place the red block.",
|
| 6 |
+
"num_frames": 278,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 272,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 265,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 258,
|
| 79 |
+
"end_frame": 272
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000400.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 400,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 293,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 79,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 80,
|
| 23 |
+
"end_frame": 124,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 125,
|
| 32 |
+
"end_frame": 192,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 193,
|
| 42 |
+
"end_frame": 287,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 64,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 57,
|
| 58 |
+
"end_frame": 71
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 178,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 171,
|
| 65 |
+
"end_frame": 185
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 200,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 193,
|
| 72 |
+
"end_frame": 207
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 280,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 273,
|
| 79 |
+
"end_frame": 287
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000401.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 401,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block, hand it to the right arm, then set it down.",
|
| 6 |
+
"num_frames": 278,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 179,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 180,
|
| 42 |
+
"end_frame": 272,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 165,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 158,
|
| 65 |
+
"end_frame": 172
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 187,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 180,
|
| 72 |
+
"end_frame": 194
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 265,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 258,
|
| 79 |
+
"end_frame": 272
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000402.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 402,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000403.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 403,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
|
| 6 |
+
"num_frames": 318,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 88,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 89,
|
| 23 |
+
"end_frame": 138,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 139,
|
| 32 |
+
"end_frame": 206,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 207,
|
| 42 |
+
"end_frame": 312,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 70,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 63,
|
| 58 |
+
"end_frame": 77
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 192,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 185,
|
| 65 |
+
"end_frame": 199
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 214,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 207,
|
| 72 |
+
"end_frame": 221
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 305,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 298,
|
| 79 |
+
"end_frame": 312
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000404.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 404,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick up and handover the red block.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 167,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 182,
|
| 72 |
+
"end_frame": 196
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000405.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 405,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 181,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 182,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 167,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 160,
|
| 65 |
+
"end_frame": 174
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 189,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 182,
|
| 72 |
+
"end_frame": 196
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000406.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 406,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
|
| 6 |
+
"num_frames": 291,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 79,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 80,
|
| 23 |
+
"end_frame": 123,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 124,
|
| 32 |
+
"end_frame": 191,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 192,
|
| 42 |
+
"end_frame": 285,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 64,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 57,
|
| 58 |
+
"end_frame": 71
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 177,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 170,
|
| 65 |
+
"end_frame": 184
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 199,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 192,
|
| 72 |
+
"end_frame": 206
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 278,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 271,
|
| 79 |
+
"end_frame": 285
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000407.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 407,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use left arm to grab the red block and place it on the pad.",
|
| 6 |
+
"num_frames": 290,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 79,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 80,
|
| 23 |
+
"end_frame": 122,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 123,
|
| 32 |
+
"end_frame": 190,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 191,
|
| 42 |
+
"end_frame": 284,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 64,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 57,
|
| 58 |
+
"end_frame": 71
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 176,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 169,
|
| 65 |
+
"end_frame": 183
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 198,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 191,
|
| 72 |
+
"end_frame": 205
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 277,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 270,
|
| 79 |
+
"end_frame": 284
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000408.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 408,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
|
| 6 |
+
"num_frames": 289,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 119,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 120,
|
| 32 |
+
"end_frame": 187,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 188,
|
| 42 |
+
"end_frame": 283,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 173,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 166,
|
| 65 |
+
"end_frame": 180
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 195,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 188,
|
| 72 |
+
"end_frame": 202
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 276,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 269,
|
| 79 |
+
"end_frame": 283
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000409.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 409,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Take the red block, pass it to the right arm, then place it.",
|
| 6 |
+
"num_frames": 278,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 111,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 112,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 272,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 55,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 48,
|
| 58 |
+
"end_frame": 62
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 265,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 258,
|
| 79 |
+
"end_frame": 272
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000410.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 410,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000411.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 411,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Set the red block on the blue pad gently.",
|
| 6 |
+
"num_frames": 280,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 112,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 113,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000412.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 412,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Move the red block from the left hand to the pad.",
|
| 6 |
+
"num_frames": 293,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 77,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 78,
|
| 23 |
+
"end_frame": 126,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 127,
|
| 32 |
+
"end_frame": 194,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 195,
|
| 42 |
+
"end_frame": 287,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 62,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 55,
|
| 58 |
+
"end_frame": 69
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 180,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 173,
|
| 65 |
+
"end_frame": 187
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 202,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 195,
|
| 72 |
+
"end_frame": 209
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 280,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 273,
|
| 79 |
+
"end_frame": 287
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000413.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 413,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Place the red block onto the blue pad using the right arm.",
|
| 6 |
+
"num_frames": 284,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 115,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 116,
|
| 32 |
+
"end_frame": 183,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 184,
|
| 42 |
+
"end_frame": 278,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 52,
|
| 58 |
+
"end_frame": 66
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 169,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 162,
|
| 65 |
+
"end_frame": 176
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 191,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 184,
|
| 72 |
+
"end_frame": 198
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 271,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 264,
|
| 79 |
+
"end_frame": 278
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000414.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 414,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Pick up and handover the red block.",
|
| 6 |
+
"num_frames": 280,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 70,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 71,
|
| 23 |
+
"end_frame": 113,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 114,
|
| 32 |
+
"end_frame": 180,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 181,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 55,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 48,
|
| 58 |
+
"end_frame": 62
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 166,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 159,
|
| 65 |
+
"end_frame": 173
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 188,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 181,
|
| 72 |
+
"end_frame": 195
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000415.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 415,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Hold the red block, transfer to the right arm, then set it down.",
|
| 6 |
+
"num_frames": 283,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 117,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 118,
|
| 32 |
+
"end_frame": 184,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 185,
|
| 42 |
+
"end_frame": 277,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 170,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 163,
|
| 65 |
+
"end_frame": 177
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 192,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 185,
|
| 72 |
+
"end_frame": 199
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 270,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 263,
|
| 79 |
+
"end_frame": 277
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000416.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 416,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
|
| 6 |
+
"num_frames": 281,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 75,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 76,
|
| 23 |
+
"end_frame": 115,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 116,
|
| 32 |
+
"end_frame": 183,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 184,
|
| 42 |
+
"end_frame": 275,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 60,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 53,
|
| 58 |
+
"end_frame": 67
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 169,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 162,
|
| 65 |
+
"end_frame": 176
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 191,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 184,
|
| 72 |
+
"end_frame": 198
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 268,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 261,
|
| 79 |
+
"end_frame": 275
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000417.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 417,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Grab red block, pass to the right arm, then drop on blue pad.",
|
| 6 |
+
"num_frames": 279,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 111,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 112,
|
| 32 |
+
"end_frame": 179,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 180,
|
| 42 |
+
"end_frame": 273,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 165,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 158,
|
| 65 |
+
"end_frame": 172
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 187,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 180,
|
| 72 |
+
"end_frame": 194
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 266,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 259,
|
| 79 |
+
"end_frame": 273
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000418.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 418,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
|
| 6 |
+
"num_frames": 280,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 73,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 74,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 58,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 51,
|
| 58 |
+
"end_frame": 65
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000419.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 419,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
|
| 6 |
+
"num_frames": 280,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 72,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 73,
|
| 23 |
+
"end_frame": 114,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 115,
|
| 32 |
+
"end_frame": 182,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 183,
|
| 42 |
+
"end_frame": 274,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 57,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
"start_frame": 50,
|
| 58 |
+
"end_frame": 64
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"frame": 168,
|
| 62 |
+
"arm": "right",
|
| 63 |
+
"kind": "close",
|
| 64 |
+
"start_frame": 161,
|
| 65 |
+
"end_frame": 175
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"frame": 190,
|
| 69 |
+
"arm": "left",
|
| 70 |
+
"kind": "open",
|
| 71 |
+
"start_frame": 183,
|
| 72 |
+
"end_frame": 197
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"frame": 267,
|
| 76 |
+
"arm": "right",
|
| 77 |
+
"kind": "open",
|
| 78 |
+
"start_frame": 260,
|
| 79 |
+
"end_frame": 274
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"scene_info": {}
|
| 83 |
+
}
|
| 84 |
+
}
|
data/aloha_clean/handover_block-aloha-agilex_randomized_500/anno_coarse/episode_000420.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_index": 420,
|
| 3 |
+
"repo": "handover_block-aloha-agilex_randomized_500",
|
| 4 |
+
"task_slug": "handover_block",
|
| 5 |
+
"task_goal": "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
|
| 6 |
+
"num_frames": 285,
|
| 7 |
+
"subtasks": [
|
| 8 |
+
{
|
| 9 |
+
"subtask_index": 0,
|
| 10 |
+
"subtask_goal": "Grasp the red block with the left arm.",
|
| 11 |
+
"subtask_type": "single_grasp",
|
| 12 |
+
"start_frame": 0,
|
| 13 |
+
"end_frame": 74,
|
| 14 |
+
"boundary_source": "after_gripper_left_close",
|
| 15 |
+
"truncation_rule": "gripper_close",
|
| 16 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"subtask_index": 1,
|
| 20 |
+
"subtask_goal": "Move the red block to the handover position with the left arm.",
|
| 21 |
+
"subtask_type": "single_move",
|
| 22 |
+
"start_frame": 75,
|
| 23 |
+
"end_frame": 117,
|
| 24 |
+
"boundary_source": "single_arm_switch",
|
| 25 |
+
"truncation_rule": "single_arm_switch"
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"subtask_index": 2,
|
| 29 |
+
"subtask_goal": "Grasp the red block with the right arm.",
|
| 30 |
+
"subtask_type": "single_grasp",
|
| 31 |
+
"start_frame": 118,
|
| 32 |
+
"end_frame": 186,
|
| 33 |
+
"boundary_source": "after_gripper_right_close",
|
| 34 |
+
"truncation_rule": "gripper_close",
|
| 35 |
+
"gap_fill_policy": "extended_to_next_subtask_start"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"subtask_index": 3,
|
| 39 |
+
"subtask_goal": "Open and retreat the left arm while using the right arm to place the red block on the blue pad.",
|
| 40 |
+
"subtask_type": "handover",
|
| 41 |
+
"start_frame": 187,
|
| 42 |
+
"end_frame": 279,
|
| 43 |
+
"boundary_source": "after_gripper_right_open",
|
| 44 |
+
"truncation_rule": "gripper_open"
|
| 45 |
+
}
|
| 46 |
+
],
|
| 47 |
+
"metadata": {
|
| 48 |
+
"annotation_version": "robotwin_vlm_coarse_v1",
|
| 49 |
+
"annotation_granularity": "coarse",
|
| 50 |
+
"gripper_threshold": 0.5,
|
| 51 |
+
"alignment_policy": "coarse motion segments with at most one terminal gripper event",
|
| 52 |
+
"detected_gripper_events": [
|
| 53 |
+
{
|
| 54 |
+
"frame": 59,
|
| 55 |
+
"arm": "left",
|
| 56 |
+
"kind": "close",
|
| 57 |
+
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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{
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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},
|
| 67 |
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{
|
| 68 |
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"frame": 194,
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"frame": 272,
|
| 76 |
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"arm": "right",
|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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}
|
| 81 |
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],
|
| 82 |
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"scene_info": {}
|
| 83 |
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}
|
| 84 |
+
}
|